robotology / yarp-devices-ros2 Goto Github PK

View Code? Open in Web Editor NEW

9.0 16.0 8.0 468 KB

Plugins, devices and network wrappers for Yarp-ROS2 interoperation

Home Page: http://www.yarp.it

CMake 13.32% C++ 80.20% Dockerfile 1.35% Shell 0.38% Perl 4.13% Python 0.33% C 0.29%

communication devices humanoids middleware network robotics robots ros2 yarp

yarp-devices-ros2's Introduction

Yarp devices for ROS2

This repository contains the YARP devices and utilities for ROS2.

🚧 This repository is currently work in progress. 🚧 🚧 The software contained is this repository is currently under testing. 🚧 APIs may change without any warning. 🚧 This code should be not used before its first official release 🚧

Documentation

Documentation of the individual devices is provided in the official Yarp documentation page:

Installation

Build with pure CMake commands

# Configure, compile and install
cmake -S. -Bbuild -DCMAKE_INSTALL_PREFIX=<install_prefix>
cmake --build build
cmake --build build --target install

# Make ROS msgs available in [ament index](https://github.com/ament/ament_index)
export AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH:<install_prefix>

Build with ROS msgs compiled in separate colcon workspace

# Compile the colcon workspace containing the required messages and services
(cd ros2_interfaces_ws && colcon build)

# Make the workspace available
. ros2_interfaces_ws/install/setup.bash

# Configure and compile
cmake -S. -Bbuild -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=ON -DYARP_ROS2_USE_SYSTEM_yarp_control_msgs:BOOL=ON -DCMAKE_INSTALL_PREFIX=<install_prefix>
cmake --build build
cmake --build build --target install

CI Status

🚧 This repository is currently work in progress. 🚧

License

🚧 This repository is currently work in progress. 🚧

Maintainers

This repository is maintained by:


	@randaz81
	@elandini84

yarp-devices-ros2's People

Contributors

Stargazers

Watchers

Forkers

randaz81 elandini84 ste93 traversaro nicogene martinaxgloria xenvre fbrand-new

yarp-devices-ros2's Issues

Cannot build the devices with ROS 2 Iron

I am using ros2 iron on Ubuntu 22.04 and I am having difficulties to build the devices.

I am following the pure CMake-based installation instructions in https://github.com/robotology/yarp-devices-ros2#build-with-pure-cmake-commands.

The built stops with the following errors:

 62%] Linking CXX shared library ../../../lib/libyarp_control_msgs__rosidl_typesupport_introspection_cpp.so
[ 62%] Built target yarp_control_msgs__rosidl_typesupport_introspection_cpp
[ 62%] Built target yarp_control_msgs
[ 62%] Built target ament_cmake_python_copy_yarp_control_msgs
/usr/bin/python3.10: can't open file '/home/user/yarp-devices-ros2/build/ros2_interfaces_ws/src/yarp_control_msgs/ament_cmake_python/yarp_control_msgs/setup.py': [Errno 2] No such file or directory
gmake[2]: *** [ros2_interfaces_ws/src/yarp_control_msgs/CMakeFiles/ament_cmake_python_build_yarp_control_msgs_egg.dir/build.make:70: ros2_interfaces_ws/src/yarp_control_msgs/CMakeFiles/ament_cmake_python_build_yarp_control_msgs_egg] Error 2
gmake[1]: *** [CMakeFiles/Makefile2:1482: ros2_interfaces_ws/src/yarp_control_msgs/CMakeFiles/ament_cmake_python_build_yarp_control_msgs_egg.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Is ros2 iron supported or should I use a different version of ros2? Or are the above errors due to something else?

Thank you

cc @elandini84 @randaz81

Valgrind Test Failures March 2024

I started investigating the valgrind test failures in CI, see for example in https://github.com/robotology/yarp-devices-ros2/actions/runs/8384433539/job/22993087127 .

Looking at the log, it seems that most of the failures are actually due to ROS2 itself, see ros2/rcl#1009 and ros2/rcutils#407 .

At this point, I guess the possible solutions are:

either disable the valgrind test
or add the ros2 failures to a valgrind suppression file, and use this suppression in all the valgrind tests

ros2 interface list not showing yarp msgs

Hi, I've experienced some problems after installing the yarp-devices-ros2 repository.
When trying to use the yarp_control_msgs I've seen that ros2 wasn't able to find them.
At the end I had to copy the files into the ros humble folder, as it follows:
sudo cp -r yarp_control_msgs/* /opt/ros/humble/
After this I used the 'ros2 interface list' and was able to find them and use them.

Include map2d_nws_ros2_msgs in the main CMake build via add_subdirectory?

Hi @elandini84, @randaz81, @drdanz,
I was looking at the repo installation instructions (in view of possible integration in the future with https://github.com/robotology/robotology-superbuild). I noticed that at the moment the installation instruction have two steps:

First, use colcon to build, configure and install the map2d_nws_ros2_msgs CMake/Ament package
Then, use cmake to build the yarp-ros2 package, that finds via find_package the map2d_nws_ros2_msgs CMake package.

Do you think it would be possible instead to just include via add_subdirectory the map2d_nws_ros2_msgs directory and then link to the map2d_nws_ros2_msgs CMake target? This would permit to configure the repo with a single cmake invocation, as it is typical done with CMake projects.

cc @ahoarau

How to handle the coupled joints with robot_state_publisher

Today I tried to run robot_state_publisher with iCubGazeboV2_5_visuomanip urdf model but opening rviz2 I got these errors:

(same thing for the right part)

I suspected that there were issues in the kinematic chains, but this might not be the case since @xEnVrE and @pattacini used this model for grasping for a while (https://robotology.github.io/icub-gazebo-grasping-sandbox/).
Then chatting with @xEnVrE we realized that the problem is that the topic /joints_state publish the position, velocity, and effort of, for example, eye_version but robot_state_publisher does not know the coupling law for computing the tf of l_eye and r_eye given that joint value over time. Same thing for the fingers.

I am not aware of how is usually handled the under actuation in ros/ros2, maybe the coupling laws should be provided by the device and then used by the nws in order to publish also the joint values of the decoupled joints.

Somehow related to robotology/gazebo-yarp-plugins#470

Here are some images from rqt

cc @pattacini @traversaro @xEnVrE @randaz81 @elandini84

Request implementation of `multipleAnalogSensors_nwc_ros2`

Description

Looking at yarp-devices-ros2 I've noticed that multipleAnalogSensors_nwc_ros2is currently missing, having this device it would be really useful to add in our pipeline sensors already provided by an already existing ros2 node that streams the data (for instance the imu mounted on the RealSense D435i).

@Nicogene and @traversaro suggested me to open an issue to get all aligned (@randaz81 and @elandini84)

Cartesian z coordinate not correctly assigned in frameTransformSet_nwc_ros2

While using the frameTransformSet_nwc_ros2 device from within a C++ executable I noticed that the transforms I was setting were not correctly published in tf. Specifically, the z coordinate was different from the one published by the user and always equal to the y coordinate.

After checking the code I discovered that the assignment is not correct, as per:

yarp-devices-ros2/src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp

Lines 152 to 154 in 4a71c7f

 tempTransl.x = input.translation.tX; 

 tempTransl.y = input.translation.tY; 

 tempTransl.z = input.translation.tY;

macOS CI failure

2021-11-18T02:23:20.7246370Z [150/997] Building CXX object src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/macos/MacOSAPI.mm.o
2021-11-18T02:23:20.7348730Z FAILED: src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/macos/MacOSAPI.mm.o 
2021-11-18T02:23:20.7459240Z /usr/local/miniconda/envs/test/bin/x86_64-apple-darwin13.4.0-clang++ -DBUILDING_YARP -DYARP_HAS_ACE -DYARP_HAS_Libedit -DYARP_os_EXPORTS -D__ACE_INLINE__ -I/Users/runner/work/yarp-ros2/yarp-ros2/yarp/src/libYARP_os/src -I/Users/runner/work/yarp-ros2/yarp-ros2/yarp/src/libYARP_conf/src -I/Users/runner/work/yarp-ros2/yarp-ros2/yarp/build/src/libYARP_conf/src -isystem /Users/runner/work/yarp-ros2/yarp-ros2/yarp/extern/hmac/hmac -Wall -Wextra -Wsign-compare -Wpointer-arith -Winit-self -Wnon-virtual-dtor -Wcast-align -Wunused -Wvla -Wmissing-include-dirs -Wreorder -Wsizeof-pointer-memaccess -Woverloaded-virtual -Wtautological-undefined-compare -Wmismatched-new-delete -Wparentheses-equality -Wundef -Wredundant-decls -Wunknown-pragmas -Wunused-result -Wc++2a-compat -Wheader-guard -Wignored-attributes -Wnewline-eof -Wdangling-else -Wgcc-compat -Wmicrosoft-exists -Wstatic-inline-explicit-instantiation -Wmisleading-indentation -Wtautological-compare -Winconsistent-missing-override -Wsuggest-override -Wnull-conversion  -Wno-unused-parameter  -Wdeprecated-declarations -march=core2 -mtune=haswell -mssse3 -ftree-vectorize -fPIC -fPIE -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -std=c++14 -fmessage-length=0 -isystem /usr/local/miniconda/envs/test/include -O3 -DNDEBUG -isysroot /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk -fPIC -fvisibility=hidden -fvisibility-inlines-hidden -std=c++17 -MD -MT src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/macos/MacOSAPI.mm.o -MF src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/macos/MacOSAPI.mm.o.d -o src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/macos/MacOSAPI.mm.o -c /Users/runner/work/yarp-ros2/yarp-ros2/yarp/src/libYARP_os/src/yarp/os/impl/macos/MacOSAPI.mm
2021-11-18T02:23:20.7551650Z In file included from /Users/runner/work/yarp-ros2/yarp-ros2/yarp/src/libYARP_os/src/yarp/os/impl/macos/MacOSAPI.mm:8:
2021-11-18T02:23:20.7654020Z In file included from /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Foundation.framework/Headers/Foundation.h:12:
2021-11-18T02:23:20.7754430Z /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Foundation.framework/Headers/NSBundle.h:91:143: error: function does not return NSString
2021-11-18T02:23:20.7858190Z - (NSAttributedString *)localizedAttributedStringForKey:(NSString *)key value:(nullable NSString *)value table:(nullable NSString *)tableName NS_FORMAT_ARGUMENT(1) NS_REFINED_FOR_SWIFT API_AVAILABLE(macos(12.0), ios(15.0), watchos(8.0), tvos(15.0));
2021-11-18T02:23:20.7957380Z                                                          ~~~~~~~~~~~~~~                                                                       ^                  ~
2021-11-18T02:23:20.8060510Z /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Foundation.framework/Headers/NSObjCRuntime.h:103:48: note: expanded from macro 'NS_FORMAT_ARGUMENT'
2021-11-18T02:23:20.8161680Z         #define NS_FORMAT_ARGUMENT(A) __attribute__ ((format_arg(A)))
2021-11-18T02:23:20.8262710Z                                                       ^          ~
2021-11-18T02:23:20.8364460Z In file included from /Users/runner/work/yarp-ros2/yarp-ros2/yarp/src/libYARP_os/src/yarp/os/impl/macos/MacOSAPI.mm:8:
2021-11-18T02:23:20.8464830Z In file included from /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Foundation.framework/Headers/Foundation.h:130:
2021-11-18T02:23:20.8565850Z /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Foundation.framework/Headers/NSURLSession.h:500:168: error: expected ')'
2021-11-18T02:23:20.8669190Z - (void)readDataOfMinLength:(NSUInteger)minBytes maxLength:(NSUInteger)maxBytes timeout:(NSTimeInterval)timeout completionHandler:(void (^) (NSData * _Nullable_result data, BOOL atEOF, NSError * _Nullable error))completionHandler;
2021-11-18T02:23:20.8770640Z                                                                                                                                                                        ^
2021-11-18T02:23:20.8873180Z /Applications/Xcode_13.1.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/Foundation.framework/Headers/NSURLSession.h:500:141: note: to match this '('
2021-11-18T02:23:20.8973840Z - (void)readDataOfMinLength:(NSUInteger)minBytes maxLength:(NSUInteger)maxBytes timeout:(NSTimeInterval)timeout completionHandler:(void (^) (NSData * _Nullable_result data, BOOL atEOF, NSError * _Nullable error))completionHandler;
2021-11-18T02:23:20.9072620Z                                                                                                                                             ^
2021-11-18T02:23:20.9173630Z 2 errors generated.
2021-11-18T02:23:20.9274850Z [151/997] Building CXX object src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/UdpCarrier.cpp.o
2021-11-18T02:23:22.0020110Z [152/997] Building CXX object src/libYARP_os/src/CMakeFiles/YARP_os.dir/yarp/os/impl/PortCore.cpp.o
2021-11-18T02:23:24.8331680Z [153/997] Building CXX object src/libYARP_sig/src/CMakeFiles/YARP_sig.dir/yarp/sig/Image.cpp.o
2021-11-18T02:23:28.0589750Z [154/997] Building CXX object src/libYARP_sig/src/CMakeFiles/YARP_sig.dir/yarp/sig/Image.copyPixels.cpp.o
2021-11-18T02:23:28.0646100Z ninja: build stopped: subcommand failed.
2021-11-18T02:23:28.0751700Z ##[error]Process completed with exit code 1.

	tempTransl.x = input.translation.tX;
	tempTransl.y = input.translation.tY;
	tempTransl.z = input.translation.tY;