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Joschi3Joschi3
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Feature/ci 2 (#10)
* Added ci * modified ci * applied ci * fixed typo detection * updated ci pipeline
1 parent d64b800 commit 62971a3

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‎.github/workflows/lint_build_test.yaml‎

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name: Lint, Build & Test
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on:
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push:
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branches:
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- jazzy
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pull_request:
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branches:
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- jazzy
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defaults:
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run:
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shell: bash
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jobs:
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Linting:
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name: Lint Code Base
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runs-on: ubuntu-latest
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: Setup
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run: |
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sudo apt-get update && sudo apt-get install -y black clang-format cppcheck libxml2-utils
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- name: Set up Python
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uses: actions/setup-python@v4
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- name: Install and Run pre-commit
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uses: pre-commit/[email protected]
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with:
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extra_args: --all-files
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build-and-test:
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needs: Linting
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strategy:
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matrix:
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setup:
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- rosdistro: jazzy
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os: ubuntu-24.04
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- rosdistro: rolling
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os: ubuntu-latest
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runs-on: ${{ matrix.setup.os }}
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container:
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image: ros:${{ matrix.setup.rosdistro }}-ros-base
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steps:
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- name: install build tools
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run: |
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sudo apt-get update
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sudo apt-get install -y ros-dev-tools
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- uses: actions/checkout@v4
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with:
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repository: tu-darmstadt-ros-pkg/hector_transmission_interface
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path: src/hector_transmission_interface
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- uses: actions/checkout@v4
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with:
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path: src/repo
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- name: rosdep
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run: |
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rosdep update --rosdistro ${{ matrix.setup.rosdistro }} --include-eol-distros
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rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.setup.rosdistro }}
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- name: build
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run: |
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source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
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colcon build
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- name: test
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run: |
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source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
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colcon test
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colcon test-result --verbose

‎.gitignore‎

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CMakeLists.txt.user*
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.idea
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cmake-build-*
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.vscode
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.vscode

‎.pre-commit-config.yaml‎

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# To use:
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#
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# pre-commit run -a
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#
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# Or:
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#
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# pre-commit install # (runs every time you commit in git)
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#
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# To update this file:
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#
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v5.0.0
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hooks:
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- id: check-added-large-files
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- id: check-docstring-first
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-xml
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- id: check-yaml
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args: ["--allow-multiple-documents"]
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: trailing-whitespace
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exclude_types: [rst]
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# CPP Checks
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v20.1.4
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hooks:
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- id: clang-format
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name: Clang Format
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args: [--style=file]
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files: \.(cpp|hpp|h|c|cc)$
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- repo: local
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hooks:
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- id: cppcheck
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name: Cppcheck
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entry: bash -c "cppcheck --force --quiet --inline-suppr --error-exitcode=1 --language=c++ $(find . -type d -name 'cmake-build-*' -prune -false -o -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc')"
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language: system
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files: \.(cpp|cc|hpp|h)$
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pass_filenames: false
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# Python hooks
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.12.7
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hooks:
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- id: ruff-check
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args: [ --fix ]
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- id: ruff-format
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# CMake Formatting
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- repo: https://github.com/cheshirekow/cmake-format-precommit
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rev: v0.6.13
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hooks:
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- id: cmake-format
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- id: cmake-lint
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# Package XML
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- repo: https://github.com/Joschi3/package_xml_validation.git
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rev: v1.2.3
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hooks:
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- id: format-package-xml
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name: Validate and Format package.xml
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# Spellcheck
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- repo: https://github.com/crate-ci/typos
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rev: v1.34.0
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hooks:
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- id: typos
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# Prevent committing with Bug comments
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- repo: local
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hooks:
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- id: no-bug-comments
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name: 'No Bug comments'
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description: 'Prevent commit if Bug comments are present'
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entry: '(?i)#\s*bug'
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language: pygrep
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types: [file]
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- repo: https://github.com/python-jsonschema/check-jsonschema
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rev: 0.33.2
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hooks:
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- id: check-github-workflows
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args: ["--verbose"]
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- id: check-github-actions
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args: ["--verbose"]

‎dynamixel_ros_control/CMakeLists.txt‎

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@@ -2,14 +2,14 @@ cmake_minimum_required(VERSION 3.8)
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project(dynamixel_ros_control)
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# Default to C++17
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if (NOT CMAKE_CXX_STANDARD)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif ()
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endif()
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10-
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif ()
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
@@ -20,7 +20,7 @@ find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(dynamixel_sdk REQUIRED)
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find_package(yaml-cpp REQUIRED)
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#find_package(dynamixel_ros_control_msgs REQUIRED)
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# find_package(dynamixel_ros_control_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(hector_transmission_interface_msgs REQUIRED)
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find_package(controller_orchestrator REQUIRED)
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set(HEADERS
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include/${PROJECT_NAME}/common.hpp
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include/${PROJECT_NAME}/joint.hpp
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include/${PROJECT_NAME}/dynamixel.hpp
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include/${PROJECT_NAME}/control_table.hpp
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include/${PROJECT_NAME}/control_table_item.hpp
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include/${PROJECT_NAME}/dynamixel_driver.hpp
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include/${PROJECT_NAME}/dynamixel_hardware_interface.hpp
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include/${PROJECT_NAME}/sync_read_manager.hpp
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include/${PROJECT_NAME}/sync_write_manager.hpp
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include/${PROJECT_NAME}/log.hpp
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)
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include/${PROJECT_NAME}/common.hpp
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include/${PROJECT_NAME}/joint.hpp
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include/${PROJECT_NAME}/dynamixel.hpp
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include/${PROJECT_NAME}/control_table.hpp
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include/${PROJECT_NAME}/control_table_item.hpp
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include/${PROJECT_NAME}/dynamixel_driver.hpp
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include/${PROJECT_NAME}/dynamixel_hardware_interface.hpp
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include/${PROJECT_NAME}/sync_read_manager.hpp
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include/${PROJECT_NAME}/sync_write_manager.hpp
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include/${PROJECT_NAME}/log.hpp)
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set(SOURCES
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src/common.cpp
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src/joint.cpp
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src/dynamixel.cpp
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src/control_table.cpp
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src/control_table_item.cpp
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src/dynamixel_driver.cpp
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src/dynamixel_hardware_interface.cpp
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src/sync_read_manager.cpp
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src/sync_write_manager.cpp
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)
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src/common.cpp
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src/joint.cpp
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src/dynamixel.cpp
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src/control_table.cpp
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src/control_table_item.cpp
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src/dynamixel_driver.cpp
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src/dynamixel_hardware_interface.cpp
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src/sync_read_manager.cpp
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src/sync_write_manager.cpp)
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include_directories(include)
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add_library(${PROJECT_NAME} SHARED ${SOURCES} ${HEADERS})
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target_link_libraries(${PROJECT_NAME} PUBLIC yaml-cpp)
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ament_target_dependencies(${PROJECT_NAME} PUBLIC rclcpp rclcpp_lifecycle lifecycle_msgs hardware_interface pluginlib
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dynamixel_sdk yaml-cpp std_msgs std_srvs ament_index_cpp transmission_interface hector_transmission_interface hector_transmission_interface_msgs controller_orchestrator)
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ament_target_dependencies(
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${PROJECT_NAME}
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PUBLIC
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rclcpp
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rclcpp_lifecycle
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lifecycle_msgs
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hardware_interface
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pluginlib
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dynamixel_sdk
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yaml-cpp
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std_msgs
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std_srvs
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ament_index_cpp
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transmission_interface
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hector_transmission_interface
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hector_transmission_interface_msgs
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controller_orchestrator)
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pluginlib_export_plugin_description_file(hardware_interface dynamixel_ros_control.xml)
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pluginlib_export_plugin_description_file(hardware_interface
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dynamixel_ros_control.xml)
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# Install library and include folder
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install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}-targets LIBRARY DESTINATION lib)
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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LIBRARY DESTINATION lib)
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install(DIRECTORY include/ DESTINATION include)
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# Install directories
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install(DIRECTORY launch config devices
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DESTINATION share/${PROJECT_NAME}
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)
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install(DIRECTORY launch config devices DESTINATION share/${PROJECT_NAME})
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ament_package()
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‎dynamixel_ros_control/devices/interface_to_register_names.yaml‎

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- interface_name: "effort"
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register_name: "torque_limit"
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- interface_name: "current"
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register_name: "current_limit"
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register_name: "current_limit"

‎dynamixel_ros_control/devices/models/H42-20-S300-R.yaml‎

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celsius: 1.0
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V: 0.1
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A: 0.00402832031
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indirect_addresses:
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# address start | data start | count
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- 49 | 634 | 256
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control_table:
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# addr | item name | length | access | memory | unit/type
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- 0 | model_number | 2 | R | EEPROM |

‎dynamixel_ros_control/devices/models/H42-20-S300-RA.yaml‎

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V: 0.1
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ms: 1.0
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A: 0.001
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indirect_addresses:
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# address start | data start | count
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- 168 | 634 | 128
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control_table:
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# addr | item name | length | access | memory | unit/type
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- 0 | model_number | 2 | R | EEPROM |

‎dynamixel_ros_control/devices/models/MX2.yaml‎

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# XM series
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# XM series
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unit_conversions: # dxl value to unit ratio
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rad: 0.001533936
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rad_per_s: 0.023980117
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ms: 1.0
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A: 0.00269
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load: 0.1
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indirect_addresses:
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# address start | data start | count
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#- 168 | 224 | 28

‎dynamixel_ros_control/devices/models/PH.yaml‎

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# PH-Series
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# PH-Series
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unit_conversions: # dxl value to unit ratio
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rad: 0.00000625911
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rad_per_s: 0.00104719755
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V: 0.1
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ms: 1.0
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A: 0.001
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indirect_addresses:
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# address start | data start | count
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- 168 | 634 | 128
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- 7 | id | 1 | RW | EEPROM |
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- 8 | baud_rate | 1 | RW | EEPROM |
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- 9 | return_delay_time | 1 | RW | EEPROM |
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- 10 | drive_mode | 1 | RW | EEPROM |
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- 10 | drive_mode | 1 | RW | EEPROM |
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- 11 | operating_mode | 1 | RW | EEPROM |
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- 20 | homing_offset | 4 | RW | EEPROM | rad
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- 24 | moving_threshold | 4 | RW | EEPROM | rad_per_s
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- 31 | temperature_limit | 1 | RW | EEPROM | celsius
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- 32 | max_voltage_limit | 2 | RW | EEPROM | V
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- 34 | min_voltage_limit | 2 | RW | EEPROM | V
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- 36 | pwm_limit | 2 | RW | EEPROM |
29+
- 36 | pwm_limit | 2 | RW | EEPROM |
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- 38 | current_limit | 2 | RW | EEPROM | A
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- 40 | acceleration_limit | 4 | RW | EEPROM | rad_per_s2
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- 44 | velocity_limit | 4 | RW | EEPROM | rad_per_s
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- 568 | realtime_tick | 2 | R | RAM | ms
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- 570 | moving | 1 | R | RAM | bool
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- 571 | moving_status | 1 | R | RAM |
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- 572 | present_pwm | 2 | R | RAM |
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- 572 | present_pwm | 2 | R | RAM |
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- 574 | present_current | 2 | R | RAM | A
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- 576 | present_velocity | 4 | R | RAM | rad_per_s
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- 580 | present_position | 4 | R | RAM | rad

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