From cc2683527a25136b19552bb07ab3e45bd953542e Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 20 Jun 2024 22:13:15 +0200 Subject: [PATCH 1/6] Remove reference to non-existing plugin file --- franka_hw/package.xml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/franka_hw/package.xml b/franka_hw/package.xml index e64ea5804..8629d7942 100644 --- a/franka_hw/package.xml +++ b/franka_hw/package.xml @@ -31,8 +31,4 @@ franka_description gtest rostest - - - - From dea9b98de1439daf36405b883eb4d8bc269f1679 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 12 Sep 2023 22:22:29 +0200 Subject: [PATCH 2/6] Remove enforcement of C++14 standard Compilers already default to C++17 nowadays and log4cxx requires C++17 on Ubuntu Jammy. --- franka_control/CMakeLists.txt | 3 --- franka_example_controllers/CMakeLists.txt | 2 -- franka_gazebo/CMakeLists.txt | 3 --- franka_gripper/CMakeLists.txt | 3 --- franka_hw/CMakeLists.txt | 3 --- franka_visualization/CMakeLists.txt | 3 --- 6 files changed, 17 deletions(-) diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt index b2e24688f..a1bbf1122 100644 --- a/franka_control/CMakeLists.txt +++ b/franka_control/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 3.4) project(franka_control) -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - find_package(catkin REQUIRED COMPONENTS controller_interface controller_manager diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt index 2ad6b6b09..5486f3178 100644 --- a/franka_example_controllers/CMakeLists.txt +++ b/franka_example_controllers/CMakeLists.txt @@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 3.4) project(franka_example_controllers) set(CMAKE_BUILD_TYPE Release) -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) find_package(catkin REQUIRED COMPONENTS controller_interface diff --git a/franka_gazebo/CMakeLists.txt b/franka_gazebo/CMakeLists.txt index 56bdcae13..8757b7949 100644 --- a/franka_gazebo/CMakeLists.txt +++ b/franka_gazebo/CMakeLists.txt @@ -11,9 +11,6 @@ if(${ARCHITECTURE} STREQUAL "armv7l") endif() -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - # Load catkin and all dependencies required for this package find_package(catkin REQUIRED COMPONENTS gazebo_dev diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt index 6a830b389..ca97e652f 100644 --- a/franka_gripper/CMakeLists.txt +++ b/franka_gripper/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 3.4) project(franka_gripper) -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - find_package(catkin REQUIRED COMPONENTS roscpp message_generation diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt index d7888a831..2f5bcbcb1 100644 --- a/franka_hw/CMakeLists.txt +++ b/franka_hw/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 3.4) project(franka_hw) -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - find_package(catkin REQUIRED COMPONENTS actionlib controller_interface diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt index d8c55a32c..9d830b4e5 100644 --- a/franka_visualization/CMakeLists.txt +++ b/franka_visualization/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 3.4) project(franka_visualization) -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - find_package(catkin REQUIRED COMPONENTS sensor_msgs roscpp From f16730634104b4be736aecbd23085f4457580386 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Wed, 13 Sep 2023 16:52:45 +0200 Subject: [PATCH 3/6] Explicitly declare boost::placeholders usage Boost 1.73 depreacated the implicit use of boost::placeholders. --- .../src/cartesian_impedance_example_controller.cpp | 2 ++ .../src/dual_arm_cartesian_impedance_example_controller.cpp | 2 ++ franka_example_controllers/src/force_example_controller.cpp | 2 ++ franka_example_controllers/src/teleop_gripper_node.cpp | 2 ++ .../src/teleop_joint_pd_example_controller.cpp | 1 + franka_gazebo/src/franka_gripper_sim.cpp | 2 ++ 6 files changed, 11 insertions(+) diff --git a/franka_example_controllers/src/cartesian_impedance_example_controller.cpp b/franka_example_controllers/src/cartesian_impedance_example_controller.cpp index fa9eb7785..703364a78 100644 --- a/franka_example_controllers/src/cartesian_impedance_example_controller.cpp +++ b/franka_example_controllers/src/cartesian_impedance_example_controller.cpp @@ -10,6 +10,8 @@ #include #include +using namespace boost::placeholders; + #include namespace franka_example_controllers { diff --git a/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp b/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp index ba51d4722..d93c66cb5 100644 --- a/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp +++ b/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp @@ -18,6 +18,8 @@ #include #include +using namespace boost::placeholders; + namespace franka_example_controllers { bool DualArmCartesianImpedanceExampleController::initArm( diff --git a/franka_example_controllers/src/force_example_controller.cpp b/franka_example_controllers/src/force_example_controller.cpp index 7864d4987..d2d84df6f 100644 --- a/franka_example_controllers/src/force_example_controller.cpp +++ b/franka_example_controllers/src/force_example_controller.cpp @@ -11,6 +11,8 @@ #include +using namespace boost::placeholders; + namespace franka_example_controllers { bool ForceExampleController::init(hardware_interface::RobotHW* robot_hw, diff --git a/franka_example_controllers/src/teleop_gripper_node.cpp b/franka_example_controllers/src/teleop_gripper_node.cpp index e1fd7c21c..44fe8b170 100644 --- a/franka_example_controllers/src/teleop_gripper_node.cpp +++ b/franka_example_controllers/src/teleop_gripper_node.cpp @@ -17,6 +17,8 @@ #include #include +using namespace boost::placeholders; + using franka_gripper::GraspAction; using franka_gripper::HomingAction; using franka_gripper::MoveAction; diff --git a/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp b/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp index acd815452..cb5f3e11a 100644 --- a/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp +++ b/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp @@ -17,6 +17,7 @@ #include using Vector7d = Eigen::Matrix; +using namespace boost::placeholders; const std::string kControllerName = "TeleopJointPDExampleController"; diff --git a/franka_gazebo/src/franka_gripper_sim.cpp b/franka_gazebo/src/franka_gripper_sim.cpp index 7f8c17ab2..194f5600a 100644 --- a/franka_gazebo/src/franka_gripper_sim.cpp +++ b/franka_gazebo/src/franka_gripper_sim.cpp @@ -4,6 +4,8 @@ #include #include +using namespace boost::placeholders; + namespace franka_gazebo { using actionlib::SimpleActionServer; From ba8dd20a6b34941a8247ec3c519fbc3b467c5cae Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Wed, 13 Sep 2023 18:27:13 +0200 Subject: [PATCH 4/6] Replace generic using namespace -> boost::placeholders::* --- .../src/cartesian_impedance_example_controller.cpp | 3 ++- .../src/dual_arm_cartesian_impedance_example_controller.cpp | 3 ++- franka_example_controllers/src/force_example_controller.cpp | 3 ++- franka_example_controllers/src/teleop_gripper_node.cpp | 3 ++- .../src/teleop_joint_pd_example_controller.cpp | 3 ++- franka_gazebo/src/franka_gripper_sim.cpp | 2 +- 6 files changed, 11 insertions(+), 6 deletions(-) diff --git a/franka_example_controllers/src/cartesian_impedance_example_controller.cpp b/franka_example_controllers/src/cartesian_impedance_example_controller.cpp index 703364a78..d81cfcc06 100644 --- a/franka_example_controllers/src/cartesian_impedance_example_controller.cpp +++ b/franka_example_controllers/src/cartesian_impedance_example_controller.cpp @@ -10,7 +10,8 @@ #include #include -using namespace boost::placeholders; +using boost::placeholders::_1; +using boost::placeholders::_2; #include diff --git a/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp b/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp index d93c66cb5..9883271bc 100644 --- a/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp +++ b/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp @@ -18,7 +18,8 @@ #include #include -using namespace boost::placeholders; +using boost::placeholders::_1; +using boost::placeholders::_2; namespace franka_example_controllers { diff --git a/franka_example_controllers/src/force_example_controller.cpp b/franka_example_controllers/src/force_example_controller.cpp index d2d84df6f..2df8902f9 100644 --- a/franka_example_controllers/src/force_example_controller.cpp +++ b/franka_example_controllers/src/force_example_controller.cpp @@ -11,7 +11,8 @@ #include -using namespace boost::placeholders; +using boost::placeholders::_1; +using boost::placeholders::_2; namespace franka_example_controllers { diff --git a/franka_example_controllers/src/teleop_gripper_node.cpp b/franka_example_controllers/src/teleop_gripper_node.cpp index 44fe8b170..26d2cdb9e 100644 --- a/franka_example_controllers/src/teleop_gripper_node.cpp +++ b/franka_example_controllers/src/teleop_gripper_node.cpp @@ -17,7 +17,8 @@ #include #include -using namespace boost::placeholders; +using boost::placeholders::_1; +using boost::placeholders::_2; using franka_gripper::GraspAction; using franka_gripper::HomingAction; diff --git a/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp b/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp index cb5f3e11a..398f80c82 100644 --- a/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp +++ b/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp @@ -17,7 +17,8 @@ #include using Vector7d = Eigen::Matrix; -using namespace boost::placeholders; +using boost::placeholders::_1; +using boost::placeholders::_2; const std::string kControllerName = "TeleopJointPDExampleController"; diff --git a/franka_gazebo/src/franka_gripper_sim.cpp b/franka_gazebo/src/franka_gripper_sim.cpp index 194f5600a..672b54205 100644 --- a/franka_gazebo/src/franka_gripper_sim.cpp +++ b/franka_gazebo/src/franka_gripper_sim.cpp @@ -4,7 +4,7 @@ #include #include -using namespace boost::placeholders; +using boost::placeholders::_1; namespace franka_gazebo { From fbd3c08657a3e8e9ede183b2b6b245635391af94 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 9 Jan 2025 12:23:00 +0100 Subject: [PATCH 5/6] Add missing #include to provide typedefs for uint8_t etc. --- franka_hw/include/franka_hw/resource_helpers.h | 1 + 1 file changed, 1 insertion(+) diff --git a/franka_hw/include/franka_hw/resource_helpers.h b/franka_hw/include/franka_hw/resource_helpers.h index 111461a01..30d40a1aa 100644 --- a/franka_hw/include/franka_hw/resource_helpers.h +++ b/franka_hw/include/franka_hw/resource_helpers.h @@ -2,6 +2,7 @@ // Use of this source code is governed by the Apache-2.0 license, see LICENSE #pragma once +#include #include #include #include From af3214a693871f572ff4900faf772176dca373de Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 9 Jan 2025 19:39:07 +0100 Subject: [PATCH 6/6] CI: update action versions --- .github/workflows/ci.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index b8f1f2028..c959f9874 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -26,7 +26,7 @@ jobs: mkdir -p ${{github.workspace}}/devel # compilation cache for formatter & linter - name: Checkout - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: path: src/franka_ros @@ -35,7 +35,7 @@ jobs: - name: Build Docker Image if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} - uses: docker/build-push-action@v2 + uses: docker/build-push-action@v6 with: tags: franka_ros:${{matrix.ros_distro}} file: .ci/Dockerfile.${{matrix.ros_distro}} @@ -74,7 +74,7 @@ jobs: run: | source /ros/devel/setup.bash cmake --build /ros/build --target check-format - + - name: Check Python Format if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} uses: addnab/docker-run-action@v3 @@ -111,7 +111,7 @@ jobs: catkin_test_results - name: Upload Tests to Artifacts - uses: actions/upload-artifact@v2 + uses: actions/upload-artifact@v4 if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} with: name: test-results