package_template

This repository is a tutorial on how to package C++ and python code together. The convention presented are to be followed by people in the machines-in-motion group.

In particular it contains the examples for:

• Packaging C++ and Python code in one repository.
• How to build C++ code and package it with CMake + mpi_cmake_module.
• How to write a PID controller in C++
• How to write a PID controller in Python
• How to write Python bindings over the C++ code using Pybind11
• How to write unit-tests in C++ and Python.
• How to deal with YAML configuration files from C++ or Python.
• How to use ROS1 parameters (deprecated, privilege ROS2 param).
• How to write C++ and Python demos of the code.
• How to write the API documentation using:
  • Doxygen docstring for C++,
  • Google docstring for Python,
  • Markdown or Restructured text for generic documentation.

A tutorial on how to write CMakeLists.txt is also available here: https://github.com/machines-in-motion/machines-in-motion.github.io/wiki/use_cmake

Installation:

Standard dependencies:

This package depend externally on:

• mpi_cmake_module for the build system (see next paragraph)
• pybind11 for the python bindings (see next paragraph)
• yaml_utils for the yaml parsing in C++ (see next paragraph)
• googletest for the C++ unit tests (see next paragraph)
• pytest for the Python unit tests.

The mpi_cmake_module will ask for dependencies when building the documentation, see the requirements.txt

In short for the external dependencies without the doc ones:

sudo apt install libyaml-cpp-dev
python3 -m pip install -U pytest

Download the package:

Preferably use treep with the treep_machines_in_motion configuration.

**Note: ** do not forget to register your ssh public key in your settings.

mkdir -p ~/devel
pip install treep
cd ~/devel
git clone git@github.com:machines-in-motion/treep_machines_in_motion.git
treep --clone PACKAGE_TEMPLATE

Build the package

We use colcon to build this package:

cd mkdir -p ~/devel/workspace
colcon build

Usage:

Demos/Examples

The purpose of the this code is for user to read it. But you can still start the demos compiled with this package:

package_template_demo_pid

or

package_template_demo_pid_load_from_file

See the source files

API documentation

Building the documentation locally:

colcon build --packages-select package_template --cmake-args -DGENERATE_DOCUMENTATION=ON

A pre-built documentation can be seen here:

https://machines-in-motion.github.io/code_documentation/package_template

License and Copyrights

License BSD-3-Clause Copyright (c) 2021, New York University and Max Planck Gesellschaft.