Joint limit interface

hardware_interface/CMakeLists.txt

@@ -1,169 +1,204 @@
-cmake_minimum_required(VERSION 3.5)
-project(hardware_interface)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(control_msgs REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(rcpputils REQUIRED)
-find_package(rcutils REQUIRED)
-find_package(tinyxml2_vendor REQUIRED)
-find_package(TinyXML2 REQUIRED)
-
-add_library(
-  hardware_interface
-  SHARED
-  src/actuator.cpp
-  src/component_parser.cpp
-  src/resource_manager.cpp
-  src/sensor.cpp
-  src/system.cpp
-)
-target_include_directories(
-  hardware_interface
-  PUBLIC
-  include
-)
-ament_target_dependencies(
-  hardware_interface
-  control_msgs
-  pluginlib
-  rcutils
-  rcpputils
-)
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(hardware_interface PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
-# prevent pluginlib from using boost
-target_compile_definitions(hardware_interface PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-
-# Fake components
-add_library(
-  fake_components
-  SHARED
-  src/fake_components/generic_system.cpp
-)
-target_include_directories(
-  fake_components
-  PUBLIC
-  include
-)
-target_link_libraries(
-  fake_components
-  hardware_interface
-)
-ament_target_dependencies(
-  fake_components
-  pluginlib
-  rcpputils
-)
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(fake_components PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
-# prevent pluginlib from using boost
-target_compile_definitions(fake_components PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-
-pluginlib_export_plugin_description_file(
-  hardware_interface fake_components_plugin_description.xml)
-
-install(
-  DIRECTORY include/
-  DESTINATION include
-)
-
-install(
-  TARGETS
-  fake_components
-  hardware_interface
-  RUNTIME DESTINATION bin
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
-  find_package(ament_cmake_gmock REQUIRED)
-  find_package(ros2_control_test_assets REQUIRED)
-
-  ament_add_gmock(test_macros test/test_macros.cpp)
-  target_include_directories(test_macros PRIVATE include)
-  ament_target_dependencies(test_macros rcpputils)
-
-  ament_add_gmock(test_joint_handle test/test_handle.cpp)
-  target_link_libraries(test_joint_handle hardware_interface)
-  ament_target_dependencies(test_joint_handle rcpputils)
-
-  ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp)
-  target_link_libraries(test_component_interfaces hardware_interface)
-
-  ament_add_gmock(test_component_parser test/test_component_parser.cpp)
-  target_link_libraries(test_component_parser hardware_interface)
-  ament_target_dependencies(test_component_parser ros2_control_test_assets)
-
-  add_library(test_components SHARED
-    test/test_components/test_actuator.cpp
-    test/test_components/test_sensor.cpp
-    test/test_components/test_system.cpp)
-  target_link_libraries(test_components hardware_interface)
-  ament_target_dependencies(test_components
-    pluginlib)
-  install(TARGETS test_components
-    DESTINATION lib
-  )
-  pluginlib_export_plugin_description_file(
-    hardware_interface test/test_components/test_components.xml)
-
-  add_library(test_hardware_components SHARED
-  test/test_hardware_components/test_single_joint_actuator.cpp
-  test/test_hardware_components/test_force_torque_sensor.cpp
-  test/test_hardware_components/test_two_joint_system.cpp
-  test/test_hardware_components/test_system_with_command_modes.cpp
-  )
-  target_link_libraries(test_hardware_components hardware_interface)
-  ament_target_dependencies(test_hardware_components
-    pluginlib)
-  install(TARGETS test_hardware_components
-    DESTINATION lib
-  )
-  pluginlib_export_plugin_description_file(
-    hardware_interface test/test_hardware_components/test_hardware_components.xml
-  )
-
-  ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
-  target_link_libraries(test_resource_manager hardware_interface)
-  ament_target_dependencies(test_resource_manager ros2_control_test_assets)
-
-  ament_add_gmock(test_generic_system test/fake_components/test_generic_system.cpp)
-  target_include_directories(test_generic_system PRIVATE include)
-  target_link_libraries(test_generic_system hardware_interface)
-  ament_target_dependencies(test_generic_system
-    pluginlib
-    ros2_control_test_assets
-  )
-endif()
-
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  fake_components
-  hardware_interface
-)
-ament_export_dependencies(
-  control_msgs
-  pluginlib
-  rcpputils
-  tinyxml2_vendor
-  TinyXML2
-)
-ament_package()
+cmake_minimum_required(VERSION 3.5)
+project(hardware_interface)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rcpputils REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(tinyxml2_vendor REQUIRED)
+find_package(TinyXML2 REQUIRED)
+find_package(urdf REQUIRED)
+
+add_library(
+  hardware_interface
+  SHARED
+  src/actuator.cpp
+  src/component_parser.cpp
+  src/resource_manager.cpp
+  src/sensor.cpp
+  src/system.cpp
+)
+target_include_directories(
+  hardware_interface
+  PUBLIC
+  include
+)
+ament_target_dependencies(
+  hardware_interface
+  control_msgs
+  pluginlib
+  rcutils
+  rcpputils
+  urdf
+)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(hardware_interface PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
+# prevent pluginlib from using boost
+target_compile_definitions(hardware_interface PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+# Fake components
+add_library(
+  fake_components
+  SHARED
+  src/fake_components/generic_system.cpp
+)
+target_include_directories(
+  fake_components
+  PUBLIC
+  include
+)
+target_link_libraries(
+  fake_components
+  hardware_interface
+)
+ament_target_dependencies(
+  fake_components
+  pluginlib
+  rcpputils
+)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(fake_components PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
+# prevent pluginlib from using boost
+target_compile_definitions(fake_components PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(
+  hardware_interface fake_components_plugin_description.xml)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS
+  fake_components
+  hardware_interface
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(rclcpp REQUIRED)
+
+  ament_add_gmock(test_macros test/test_macros.cpp)
+  target_include_directories(test_macros PRIVATE include)
+  ament_target_dependencies(test_macros rcpputils)
+
+  ament_add_gmock(test_joint_handle test/test_handle.cpp)
+  target_link_libraries(test_joint_handle hardware_interface)
+  ament_target_dependencies(test_joint_handle rcpputils)
+
+  ament_add_gmock(test_component_interfaces test/test_component_interfaces.cpp)
+  target_link_libraries(test_component_interfaces hardware_interface)
+
+  ament_add_gmock(test_component_parser test/test_component_parser.cpp)
+  target_link_libraries(test_component_parser hardware_interface)
+  ament_target_dependencies(test_component_parser ros2_control_test_assets)
+
+  add_library(test_components SHARED
+    test/test_components/test_actuator.cpp
+    test/test_components/test_sensor.cpp
+    test/test_components/test_system.cpp)
+  target_link_libraries(test_components hardware_interface)
+  ament_target_dependencies(test_components
+    pluginlib)
+  install(TARGETS test_components
+    DESTINATION lib
+  )
+  pluginlib_export_plugin_description_file(
+    hardware_interface test/test_components/test_components.xml)
+
+  add_library(test_hardware_components SHARED
+  test/test_hardware_components/test_single_joint_actuator.cpp
+  test/test_hardware_components/test_force_torque_sensor.cpp
+  test/test_hardware_components/test_two_joint_system.cpp
+  )
+  target_link_libraries(test_hardware_components hardware_interface)
+  ament_target_dependencies(test_hardware_components
+    pluginlib)
+  install(TARGETS test_hardware_components
+    DESTINATION lib
+  )
+  pluginlib_export_plugin_description_file(
+    hardware_interface test/test_hardware_components/test_hardware_components.xml
+  )
+
+  ament_add_gmock(test_resource_manager test/test_resource_manager.cpp)
+  target_link_libraries(test_resource_manager hardware_interface)
+  ament_target_dependencies(test_resource_manager ros2_control_test_assets)
+
+  ament_add_gmock(test_generic_system test/fake_components/test_generic_system.cpp)
+  target_include_directories(test_generic_system PRIVATE include)
+  target_link_libraries(test_generic_system hardware_interface)
+  ament_target_dependencies(test_generic_system
+    pluginlib
+    ros2_control_test_assets
+  )
+
+  # joint_limiter tests
+  ament_add_gmock(test_joint_limiter_interface test/joint_limits/test_joint_limiter_interface.cpp)
+  target_include_directories(test_joint_limiter_interface PUBLIC include)
+  ament_target_dependencies(test_joint_limiter_interface rcutils)
+
+  # joint_limit_interface tests
+  ament_add_gmock(joint_limits_interface_test test/joint_limits/joint_limits_interface_test.cpp)
+  target_include_directories(joint_limits_interface_test PUBLIC include)
+  ament_target_dependencies(joint_limits_interface_test rclcpp)
+
+  add_executable(joint_limits_rosparam_test test/joint_limits/joint_limits_rosparam_test.cpp)
+  target_include_directories(joint_limits_rosparam_test PUBLIC include ${GTEST_INCLUDE_DIRS})
+  target_link_libraries(joint_limits_rosparam_test ${GTEST_LIBRARIES})
+  ament_target_dependencies(joint_limits_rosparam_test rclcpp)
+  add_launch_test(test/joint_limits/joint_limits_rosparam.launch.py)
+  install(
+          TARGETS
+          joint_limits_rosparam_test
+          DESTINATION lib/${PROJECT_NAME}
+  )
+  install(
+          FILES
+          test/joint_limits/joint_limits_rosparam.yaml
+          DESTINATION share/${PROJECT_NAME}/test
+  )
+
+  ament_add_gmock(joint_limits_urdf_test test/joint_limits/joint_limits_urdf_test.cpp)
+  target_include_directories(joint_limits_urdf_test PUBLIC include)
+  ament_target_dependencies(joint_limits_urdf_test rclcpp urdf)
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  fake_components
+  hardware_interface
+)
+ament_export_dependencies(
+  control_msgs
+  pluginlib
+  rcpputils
+  tinyxml2_vendor
+  TinyXML2
+  urdf
+)
+ament_package()

hardware_interface/doc/joint_limits_interface/JointLimitInterface.drawio

@@ -0,0 +1 @@
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