Fix build

.github/workflows/ros-build.yaml → .github/workflows/description-build.yaml

@@ -1,21 +1,22 @@
-name: Build package
+name: Build umrt-project-perry-description package
 
 on:
   push:
     branches:
       - main
 
 jobs:
-  build:
+  build-description:
     permissions:
       contents: write
       packages: read
 
     uses: UMRoboticsTeam/umrt-ci-cd/.github/workflows/ros-build.yaml@main
     with:
-      build_image: ghcr.io/umroboticsteam/umrt-build:v0.0.16
+      build_image: ghcr.io/umroboticsteam/umrt-build:v0.0.26
       publish_image: ghcr.io/umroboticsteam/umrt-apt-image:latest
       publish_repo: UMRoboticsTeam/umrt-apt-repo
+      working_directory: umrt-project-perry-description
     secrets:
       APT_SIGNING_PUBKEY: ${{ secrets.APT_SIGNING_PUBKEY }}
       APT_SIGNING_KEY: ${{ secrets.APT_SIGNING_KEY }}

.github/workflows/ikfast-plugin-build.yaml

@@ -0,0 +1,23 @@
+name: Build project_perry_project_perry_ikfast_plugin package
+
+on:
+  push:
+    branches:
+      - main
+
+jobs:
+  build-ikfast-plugin:
+    permissions:
+      contents: write
+      packages: read
+
+    uses: UMRoboticsTeam/umrt-ci-cd/.github/workflows/ros-build.yaml@main
+    with:
+      build_image: ghcr.io/umroboticsteam/umrt-build:v0.0.26
+      publish_image: ghcr.io/umroboticsteam/umrt-apt-image:latest
+      publish_repo: UMRoboticsTeam/umrt-apt-repo
+      working_directory: project_perry_project_perry_ikfast_plugin
+    secrets:
+      APT_SIGNING_PUBKEY: ${{ secrets.APT_SIGNING_PUBKEY }}
+      APT_SIGNING_KEY: ${{ secrets.APT_SIGNING_KEY }}
+      APT_DEPLOY_KEY: ${{ secrets.APT_DEPLOY_KEY }}

.github/workflows/moveit-config-build.yaml

@@ -0,0 +1,23 @@
+name: Build umrt-project-perry-moveit-config package
+
+on:
+  push:
+    branches:
+      - main
+
+jobs:
+  build-moveit-config:
+    permissions:
+      contents: write
+      packages: read
+
+    uses: UMRoboticsTeam/umrt-ci-cd/.github/workflows/ros-build.yaml@main
+    with:
+      build_image: ghcr.io/umroboticsteam/umrt-build:v0.0.26
+      publish_image: ghcr.io/umroboticsteam/umrt-apt-image:latest
+      publish_repo: UMRoboticsTeam/umrt-apt-repo
+      working_directory: umrt-project-perry-moveit-config
+    secrets:
+      APT_SIGNING_PUBKEY: ${{ secrets.APT_SIGNING_PUBKEY }}
+      APT_SIGNING_KEY: ${{ secrets.APT_SIGNING_KEY }}
+      APT_DEPLOY_KEY: ${{ secrets.APT_DEPLOY_KEY }}

README.md

@@ -1,25 +1,27 @@
-# UMRT ROS Template
-ROS project repository template for the University of Manitoba Robotics Team.
-
-New projects should be **forked** from this repo (not using this as a template, as that prevents template changes from
-trickling down). Each new project must:
-1. Fill in missing fields in package.in.xml
-2. Fill in project name in CMakeLists.txt and Doxyfile
-3. Go into `umrt-build` package settings and give the new repo read permission
-4. Go into `umrt-apt-image` package settings and give the new repo read permission
-5. Go into `UMRoboticsTeam` organisation secrets and add the new repo to:
-   - `APT_DEPLOY_KEY`
-   - `APT_SIGNING_KEY`
-6. Copy the rulesets (branch protection rules) from a mature repository like
-   [umrt-arm-firmware-lib](https://github.com/UMRoboticsTeam/umrt-arm-firmware-lib/)
-7. Remove this notice and fill in below README template
-8. Write something in mainpage.dox
-9. Replace example files with real code, add source files to CMake targets, document it with Doxygen, and proceed
-
----
-# Project Name
-
-This library/executable/project implements XYZ functionality for the University of Manitoba Robotics Team's 
-rover/robotic arm.
-
-[See the documentation](https://umroboticsteam.github.io/********** project-name **********/)
+# UMRT Project Perry Config
+Monorepo of ROS packages for configuring the University of Manitoba Robotics Team's software to work with Project Perry.
+
+Unlike most UMRT projects, this one deviates from the norm of one-package-per-repo.
+This is because of how tightly coupled the packages here are.
+Whenever a change is made to one config, it is likely to propagate into other configs, which becomes tedious to manage when they are all individually controlled and versioned.
+
+For example, if a URDF is changed, that would affect the ros2_control configuration, the IKFast configuration, and the MoveIt configuration.
+If each of these lived in separate repos, that is 4 PRs to create, 4 new versions which have to be deployed, and if one doesn't get updated somewhere it will cause major problems.
+Thus, by organising these into a monorepo this is condensed to 1 PR, and 1 version to deploy/manage.
+
+One unusual technique used in this project, which is used to avoid complicating the ros-build workflow with additional parameters, is to symlink the version file into each of the packages.
+
+# UMRT Project Perry Description
+
+This is the URDF and RViz files for the Project Perry robotics arm model.
+
+# UMRT Project Perry MoveIt Config
+
+This is the MoveIt2 config for interacting with the Project Perry robotic arm.
+It was generated using the MoveIt Setup Assistant.
+
+# UMRT Project Perry IKFast Plugin
+
+This is the IKFast plugin MoveIt2 uses for computing inverse kinematic solutions for the Project Perry robotic arm.
+Unlike other UMRT packages, the package name is separated with underscores instead of hyphens because the package is auto-generated and the generator uses underscores.
+The package is generated using the moveit_kinematics auto_create_ikfast_moveit_plugin script according to the instructions [here](https://moveit.picknik.ai/main/doc/examples/ikfast/ikfast_tutorial.html).

project_perry_project_perry_ikfast_plugin/.gitignore

@@ -0,0 +1,5 @@
+/cmake-build-*/
+/.idea/
+/output-doxygen/
+# We ignore package.xml because it is generated from package.in.xml
+package.xml

project_perry_project_perry_ikfast_plugin/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.22)
+project(project_perry_project_perry_ikfast_plugin)
+
+if(NOT "${CMAKE_CXX_STANDARD}")
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+find_package(ament_cmake REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2_kdl REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(LAPACK REQUIRED)
+
+include_directories(include)
+
+set(IKFAST_LIBRARY_NAME project_perry_project_perry_moveit_ikfast_plugin)
+add_library(${IKFAST_LIBRARY_NAME} SHARED src/project_perry_project_perry_ikfast_moveit_plugin.cpp)
+ament_target_dependencies(${IKFAST_LIBRARY_NAME}
+  rclcpp
+  moveit_core
+  pluginlib
+  tf2_kdl
+  orocos_kdl
+  tf2_eigen
+  LAPACK
+)
+# suppress warnings about unused variables in OpenRave's solver code
+target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable -Wno-unused-parameter)
+
+install(TARGETS ${IKFAST_LIBRARY_NAME}
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+pluginlib_export_plugin_description_file(moveit_core project_perry_project_perry_moveit_ikfast_plugin_description.xml)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(moveit_core)
+ament_export_dependencies(pluginlib)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(tf2_kdl)
+ament_export_dependencies(tf2_eigen)
+
+# Parse version number from the file
+file(READ "version" version_input)
+string(REGEX MATCH "([0-9]+)\.([0-9]+)\.([0-9]+)" _ ${version_input})
+
+# Fill version number into package.xml
+configure_file(
+        package.in.xml
+        ${CMAKE_CURRENT_SOURCE_DIR}/package.xml
+        @ONLY
+)
+
+ament_package()