Merge pull request #102 from thinkabout4x/ros2_control_request

package request ros2_control
RoboStack · Sep 14, 2023 · 26c266b · 26c266b
2 parents 31598f5 + 54d0a3e
commit 26c266b
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Showing 7 changed files with 117 additions and 18 deletions.
diff --git a/patch/ros-humble-backward-ros.patch b/patch/ros-humble-backward-ros.patch
@@ -1,3 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8927192..cb461f6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -29,6 +29,7 @@ include(cmake/BackwardConfig.cmake)
+
+ set(CMAKE_CXX_STANDARD_REQUIRED True)
+ set(CMAKE_CXX_STANDARD 11)
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ ###############################################################################
+ # COMPILER FLAGS
 diff --git a/cmake/BackwardConfigAment.cmake b/cmake/BackwardConfigAment.cmake
 index 273a51a..d981cbb 100644
 --- a/cmake/BackwardConfigAment.cmake
@@ -17,3 +29,25 @@ index 273a51a..d981cbb 100644
 +
 +SET(CMAKE_EXE_LINKER_FLAGS "${no_as_needed} ${backward_ros_full_path_LIBRARIES} ${as_needed} ${CMAKE_EXE_LINKER_FLAGS}")
 + 
+diff --git a/cmake/BackwardConfig.cmake b/cmake/BackwardConfig.cmake
+index 77d22d2..8e95287 100644
+--- a/cmake/BackwardConfig.cmake
++++ b/cmake/BackwardConfig.cmake
+@@ -125,11 +125,14 @@ endforeach()
+
+ set(BACKWARD_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}")
+
++set(FIND_PACKAGE_REQUIRED_VARS BACKWARD_INCLUDE_DIR)
++if(DEFINED BACKWARD_LIBRARIES)
++	list(APPEND FIND_PACKAGE_REQUIRED_VARS BACKWARD_LIBRARIES)
++endif()
++
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(Backward
+-    REQUIRED_VARS
+-        BACKWARD_INCLUDE_DIR
+-        BACKWARD_LIBRARIES
++    REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
+ )
+ list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR})
+
diff --git a/patch/ros-humble-controller-manager.patch b/patch/ros-humble-controller-manager.patch
@@ -0,0 +1,13 @@
+diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
+index 2850b2be8..5789f0d68 100644
+--- a/controller_manager/include/controller_manager/controller_manager.hpp
++++ b/controller_manager/include/controller_manager/controller_manager.hpp
+@@ -58,7 +58,7 @@ namespace controller_manager
+ {
+ using ControllersListIterator = std::vector<controller_manager::ControllerSpec>::const_iterator;
+
+-rclcpp::NodeOptions get_cm_node_options();
++CONTROLLER_MANAGER_PUBLIC rclcpp::NodeOptions get_cm_node_options();
+
+ class ControllerManager : public rclcpp::Node
+ {
diff --git a/patch/ros-humble-realtime-tools.win.patch b/patch/ros-humble-realtime-tools.win.patch
@@ -0,0 +1,40 @@
+diff --git a/src/thread_priority.cpp b/src/thread_priority.cpp
+index 72749e3..778c06a 100644
+--- a/src/thread_priority.cpp
++++ b/src/thread_priority.cpp
+@@ -37,20 +37,12 @@ namespace realtime_tools
+ {
+ bool has_realtime_kernel()
+ {
+-  std::ifstream realtime_file("/sys/kernel/realtime", std::ios::in);
+-  bool has_realtime = false;
+-  if (realtime_file.is_open()) {
+-    realtime_file >> has_realtime;
+-  }
+-  return has_realtime;
++  return false;
+ }
+
+ bool configure_sched_fifo(int priority)
+ {
+-  struct sched_param schedp;
+-  memset(&schedp, 0, sizeof(schedp));
+-  schedp.sched_priority = priority;
+-  return !sched_setscheduler(0, SCHED_FIFO, &schedp);
++  return false;
+ }
+
+ }  // namespace realtime_tools
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4743d98..68fc981 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,6 +5,8 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+   add_compile_options(-Wall -Wextra)
+ endif()
+
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(THIS_PACKAGE_INCLUDE_DEPENDS
+   rclcpp
+   rclcpp_action
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
@@ -67,6 +67,9 @@ packages_select_by_deps:
   - vision-msgs
   - slam-toolbox
 
+  # package request
+  - ros2_control
+
   # - rviz2
   # - behaviortree_cpp_v3
   # - ros_workspace

diff --git a/vinca_osx.yaml b/vinca_osx.yaml
@@ -63,6 +63,10 @@ packages_select_by_deps:
   - force_torque_sensor_broadcaster
   - imu_sensor_broadcaster
   - position_controllers
+
+  # package request
+  - ros2_control
+
   # - joint-state-broadcaster
   # - joint-state-publisher
   # - joint-trajectory-controller

diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
@@ -74,4 +74,7 @@ packages_select_by_deps:
 
   - plotjuggler-ros
   - plotjuggler
+
+  # package request
+  - ros2_control
 patch_dir: patch
diff --git a/vinca_win.yaml b/vinca_win.yaml
@@ -5,15 +5,15 @@ conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 3
+build_number: 4
 
 mutex_package: ros2-distro-mutex 0.3 humble
 
 skip_all_deps: false
 
 # If full rebuild, the build number of the existing package has
 # to match the selected build number for skipping
-full_rebuild: true
+full_rebuild: false
 
 packages_skip_by_deps:
   - cartographer
@@ -39,27 +39,29 @@ skip_existing:
 
 packages_select_by_deps:
   # only subset of packages to reduce maintainer load
-  - vision_msgs
 
+  - ros2_control
+  - backward_ros
   - ros_workspace
-  - ros_environment
-  - ros_base
+  # - vision_msgs
+  # - ros_environment
+  # - ros_base
   # - navigation2
-  - moveit
-  - desktop_full
-  - desktop
-  - cv_bridge
-  - perception
+  # - moveit
+  # - desktop_full
+  # - desktop
+  # - cv_bridge
+  # - perception
 
-  - gazebo_msgs
-  - gazebo_dev
-  - gazebo_ros
-  - gazebo_plugins
-  - gazebo_ros_control
-  - gazebo_ros_pkgs
+  # - gazebo_msgs
+  # - gazebo_dev
+  # - gazebo_ros
+  # - gazebo_plugins
+  # - gazebo_ros_control
+  # - gazebo_ros_pkgs
 
-  - turtlebot3_simulations
+  # - turtlebot3_simulations
 
-  - rosbridge_suite
+  # - rosbridge_suite
 
 patch_dir: patch