Design the ROS2 implementation for Clock class

.github/workflows/ci.yml

@@ -93,10 +93,6 @@ jobs:
         cd C:/robotology/vcpkg
         ./bootstrap-vcpkg.bat
 
-        # Install Catch2
-        cd C:/robotology/vcpkg
-        ./vcpkg.exe --overlay-ports=C:/robotology/robotology-vcpkg-ports install catch2:x64-windows
-
         # Install tomlplusplus
         ./vcpkg.exe --overlay-ports=C:/robotology/robotology-vcpkg-ports install tomlplusplus:x64-windows
 
@@ -453,6 +449,23 @@ jobs:
 
         cmake --build . --config ${{ matrix.build_type }} --target install
 
+    - name: Catch2 Dependency [Windows]
+      if: matrix.os == 'windows-2019'
+      shell: bash
+      run: |
+        # Catch2
+        git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git
+        cd Catch2
+        mkdir -p build
+        cd build
+        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
+                     -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
+                     -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+                     -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
+                     -DBUILD_TESTING=OFF ..
+
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
     - name: Source-based Dependencies [Ubuntu]
       if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu')
       shell: bash

.github/workflows/conda-forge-ci.yml

@@ -26,7 +26,7 @@ jobs:
     - uses: conda-incubator/setup-miniconda@v2
       with:
         mamba-version: "*"
-        channels: conda-forge,robotology
+        channels: conda-forge,robotology,robostack-humble
         channel-priority: true
 
     - name: Dependencies
@@ -38,7 +38,7 @@ jobs:
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
         # We ask for numpy 1.22.4 because of https://github.com/ami-iit/bipedal-locomotion-framework/issues/545
-        mamba install idyntree "yarp>=3.5.0" libmatio matio-cpp lie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog "catch2=2" nlohmann_json manif manifpy pybind11 "numpy=1.22.4" pytest scipy opencv pcl tomlplusplus unicycle-footstep-planner "icub-models>=1.23.4"
+        mamba install idyntree "yarp>=3.5.0" libmatio matio-cpp lie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog "catch2=2" nlohmann_json manif manifpy pybind11 "numpy=1.22.4" pytest scipy opencv pcl tomlplusplus unicycle-footstep-planner "icub-models>=1.23.4" ros-humble-desktop
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')

CHANGELOG.md

@@ -4,6 +4,7 @@ All notable changes to this project are documented in this file.
 ## [unreleased]
 ### Added
 - Log the status of the system in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/571)
+- Add the `ROS2` implementation for Clock class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/575)
 
 ### Changed
 

bindings/python/CMakeLists.txt

@@ -32,6 +32,13 @@ else ()
 endif()
 mark_as_advanced(FRAMEWORK_COMPILE_BINDINGS_YarpSystem)
 
+if (FRAMEWORK_COMPILE_System AND FRAMEWORK_COMPILE_RosImplementation)
+  set(FRAMEWORK_COMPILE_BINDINGS_RosSystem ON)
+else ()
+  set(FRAMEWORK_COMPILE_BINDINGS_RosSystem OFF)
+endif()
+mark_as_advanced(FRAMEWORK_COMPILE_BINDINGS_RosSystem)
+
 configure_file_with_cmakeif(${CMAKE_CURRENT_SOURCE_DIR}/bipedal_locomotion_framework.cpp.in
   ${CMAKE_CURRENT_BINARY_DIR}/bipedal_locomotion_framework.cpp
   @ONLY)

bindings/python/System/CMakeLists.txt

@@ -25,4 +25,16 @@ if(FRAMEWORK_COMPILE_System)
 
   endif()
 
+  if(FRAMEWORK_COMPILE_RosImplementation)
+
+    add_bipedal_locomotion_python_module(
+      NAME  SystemRosImplementationBindings
+      SOURCES src/RosClock.cpp src/RosModule.cpp
+      HEADERS ${H_PREFIX}/RosClock.h ${H_PREFIX}/RosModule.h
+      LINK_LIBRARIES BipedalLocomotion::SystemRosImplementation
+      )
+
+  endif()
+
+
 endif()

bindings/python/System/include/BipedalLocomotion/bindings/System/RosClock.h

@@ -0,0 +1,27 @@
+/**
+ * @file RosClock.h
+ * @authors Giulio Romualdi
+ * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_CLOCK_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_CLOCK_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace System
+{
+
+void CreateRosClock(pybind11::module& module);
+void CreateRosClockFactory(pybind11::module& module);
+
+} // namespace System
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_CLOCK_H

bindings/python/System/include/BipedalLocomotion/bindings/System/RosModule.h

@@ -0,0 +1,26 @@
+/**
+ * @file RosModule.h
+ * @authors Giulio Romualdi
+ * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_MODULE_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_MODULE_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace System
+{
+
+void CreateRosModule(pybind11::module& module);
+
+} // namespace System
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_MODULE_H

bindings/python/System/src/RosClock.cpp

@@ -0,0 +1,45 @@
+/**
+ * @file RosClock.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#include <pybind11/cast.h>
+#include <pybind11/chrono.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <BipedalLocomotion/System/RosClock.h>
+#include <BipedalLocomotion/bindings/System/RosClock.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace System
+{
+
+void CreateRosClock(pybind11::module& module)
+{
+    namespace py = ::pybind11;
+
+    py::class_<::BipedalLocomotion::System::RosClock,
+               ::BipedalLocomotion::System::IClock>(module, "RosClock");
+}
+
+void CreateRosClockFactory(pybind11::module& module)
+{
+    namespace py = ::pybind11;
+
+    py::class_<::BipedalLocomotion::System::RosClockFactory,
+               ::BipedalLocomotion::System::ClockFactory,
+               std::shared_ptr<::BipedalLocomotion::System::RosClockFactory>>(module,
+                                                                               "RosClockFactory")
+        .def(py::init<const std::vector<std::string>&>(), py::arg("args"));
+    ;
+}
+
+} // namespace System
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/System/src/RosModule.cpp

@@ -0,0 +1,26 @@
+/**
+ * @file RosModule.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the BSD-3-Clause license.
+ */
+
+#include <pybind11/pybind11.h>
+
+#include <BipedalLocomotion/bindings/System/RosClock.h>
+#include <BipedalLocomotion/bindings/System/RosModule.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace System
+{
+void CreateRosModule(pybind11::module& module)
+{
+    CreateRosClock(module);
+    CreateRosClockFactory(module);
+}
+} // namespace System
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/bipedal_locomotion_framework.cpp.in

@@ -29,6 +29,10 @@
 #include <BipedalLocomotion/bindings/System/YarpModule.h>
 @endcmakeif FRAMEWORK_COMPILE_BINDINGS_YarpSystem
 
+@cmakeif FRAMEWORK_COMPILE_BINDINGS_RosSystem
+#include <BipedalLocomotion/bindings/System/RosModule.h>
+@endcmakeif FRAMEWORK_COMPILE_BINDINGS_RosSystem
+
 @cmakeif FRAMEWORK_COMPILE_Contact
 #include <BipedalLocomotion/bindings/Contacts/Module.h>
 @endcmakeif FRAMEWORK_COMPILE_Contact
@@ -104,6 +108,10 @@ PYBIND11_MODULE(bindings, m)
     bindings::System::CreateYarpModule(systemModule);
     @endcmakeif FRAMEWORK_COMPILE_BINDINGS_YarpSystem
 
+    @cmakeif FRAMEWORK_COMPILE_BINDINGS_RosSystem
+    bindings::System::CreateRosModule(systemModule);
+    @endcmakeif FRAMEWORK_COMPILE_BINDINGS_RosSystem
+
     @cmakeif FRAMEWORK_COMPILE_Contact
     py::module contactsModule = m.def_submodule("contacts");
     bindings::Contacts::CreateModule(contactsModule);

cmake/AddUninstallTarget.cmake

@@ -1,70 +1,92 @@
-#.rst:
-# AddUninstallTarget
-# ------------------
-#
-# Add the "uninstall" target for your project::
-#
-#   include(AddUninstallTarget)
-#
-#
-# will create a file cmake_uninstall.cmake in the build directory and add a
-# custom target uninstall that will remove the files installed by your package
-# (using install_manifest.txt)
-
-#=============================================================================
-# Copyright 2008-2013 Kitware, Inc.
-# Copyright 2013 iCub Facility, Istituto Italiano di Tecnologia
-#   Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-#  License text for the above reference.)
-
-
-if(DEFINED __ADD_UNINSTALL_TARGET_INCLUDED)
+# SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT)
+# SPDX-FileCopyrightText: 2008-2013 Kitware Inc.
+# SPDX-License-Identifier: BSD-3-Clause
+
+#[=======================================================================[.rst:
+AddUninstallTarget
+------------------
+
+Add the "uninstall" target for your project::
+
+  include(AddUninstallTarget)
+
+
+will create a file ``cmake_uninstall.cmake`` in the build directory and add a
+custom target ``uninstall`` (or ``UNINSTALL`` on Visual Studio and Xcode) that
+will remove the files installed by your package (using
+``install_manifest.txt``).
+See also
+https://gitlab.kitware.com/cmake/community/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+
+The :module:`AddUninstallTarget` module must be included in your main
+``CMakeLists.txt``. If included in a subdirectory it does nothing.
+This allows you to use it safely in your main ``CMakeLists.txt`` and include
+your project using ``add_subdirectory`` (for example when using it with
+:cmake:module:`FetchContent`).
+
+If the ``uninstall`` target already exists, the module does nothing.
+#]=======================================================================]
+
+
+# AddUninstallTarget works only when included in the main CMakeLists.txt
+if(NOT "${CMAKE_CURRENT_BINARY_DIR}" STREQUAL "${CMAKE_BINARY_DIR}")
+  return()
+endif()
+
+# The name of the target is uppercase in MSVC and Xcode (for coherence with the
+# other standard targets)
+if("${CMAKE_GENERATOR}" MATCHES "^(Visual Studio|Xcode)")
+  set(_uninstall "UNINSTALL")
+else()
+  set(_uninstall "uninstall")
+endif()
+
+# If target is already defined don't do anything
+if(TARGET ${_uninstall})
   return()
 endif()
-set(__ADD_UNINSTALL_TARGET_INCLUDED TRUE)
 
 
-set(_filename ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+set(_filename cmake_uninstall.cmake)
 
-file(WRITE ${_filename}
-  "if(NOT EXISTS \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\")
-    message(WARNING \"Cannot find install manifest: \\\"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\\\"\")
-    return()
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/${_filename}"
+"if(NOT EXISTS \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\")
+  message(WARNING \"Cannot find install manifest: \\\"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\\\"\")
+  return()
 endif()
 
 file(READ \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\" files)
 string(STRIP \"\${files}\" files)
 string(REGEX REPLACE \"\\n\" \";\" files \"\${files}\")
 list(REVERSE files)
 foreach(file \${files})
+  if(IS_SYMLINK \"\$ENV{DESTDIR}\${file}\" OR EXISTS \"\$ENV{DESTDIR}\${file}\")
     message(STATUS \"Uninstalling: \$ENV{DESTDIR}\${file}\")
-    if(EXISTS \"\$ENV{DESTDIR}\${file}\")
-        execute_process(
-            COMMAND \${CMAKE_COMMAND} -E remove \"\$ENV{DESTDIR}\${file}\"
-            OUTPUT_VARIABLE rm_out
-            RESULT_VARIABLE rm_retval)
-        if(NOT \"\${rm_retval}\" EQUAL 0)
-            message(FATAL_ERROR \"Problem when removing \\\"\$ENV{DESTDIR}\${file}\\\"\")
-        endif()
-    else()
-        message(STATUS \"File \\\"\$ENV{DESTDIR}\${file}\\\" does not exist.\")
+    execute_process(
+      COMMAND \${CMAKE_COMMAND} -E remove \"\$ENV{DESTDIR}\${file}\"
+      OUTPUT_VARIABLE rm_out
+      RESULT_VARIABLE rm_retval)
+    if(NOT \"\${rm_retval}\" EQUAL 0)
+      message(FATAL_ERROR \"Problem when removing \\\"\$ENV{DESTDIR}\${file}\\\"\")
     endif()
+  else()
+    message(STATUS \"Not-found: \$ENV{DESTDIR}\${file}\")
+  endif()
 endforeach(file)
 ")
 
-if("${CMAKE_GENERATOR}" MATCHES "^(Visual Studio|Xcode)")
-  set(_uninstall "UNINSTALL")
+set(_desc "Uninstall the project...")
+if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
+  set(_comment COMMAND \$\(CMAKE_COMMAND\) -E cmake_echo_color --switch=$\(COLOR\) --cyan "${_desc}")
 else()
-  set(_uninstall "uninstall")
+  set(_comment COMMENT "${_desc}")
 endif()
-add_custom_target(${_uninstall} COMMAND "${CMAKE_COMMAND}" -P "${_filename}")
+add_custom_target(${_uninstall}
+                  ${_comment}
+                  COMMAND ${CMAKE_COMMAND} -P ${_filename}
+                  USES_TERMINAL
+                  BYPRODUCTS uninstall_byproduct
+                  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+set_property(SOURCE uninstall_byproduct PROPERTY SYMBOLIC 1)
+
 set_property(TARGET ${_uninstall} PROPERTY FOLDER "CMakePredefinedTargets")