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Commit 1e40da1a authored by Olivier Stasse's avatar Olivier Stasse
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[wip/sot-romeo-v3] Update to 2.0.1 

- Fix dependencies to sot-dynamic-pinocchio
- Fix dependency to sot-application-v3
- Remove patches directory
parent 35f9e89c
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sot-romeo-v3/Makefile
+ 2
− 3
View file @ 1e40da1a
......@@ -3,14 +3,13 @@
#
VERSION= 2.0.0
VERSION= 2.0.1
DISTNAME= sot-romeo-v3-${VERSION}
PKGNAME= sot-romeo-v3-${VERSION}
PKGREVISION= 3
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-romeo-v3/}
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}proyan/sot-romeo
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-romeo
COMMENT= This packages provides a generic Stack Of Tasks library for the humanoid robot Romeo.
LICENSE= gnu-lgpl-v3
......
sot-romeo-v3/distinfo
+ 3
− 9
View file @ 1e40da1a
SHA1 (sot-romeo-v3-2.0.0.tar.gz) = dbf6eb4885962467c11bf1b14e2343797d3487b2
RMD160 (sot-romeo-v3-2.0.0.tar.gz) = aaa2db1de593d3da0a41bb63647c8347cb06855e
Size (sot-romeo-v3-2.0.0.tar.gz) = 105021 bytes
SHA1 (patch-aa) = 0319ccbe6c1622c7708972f6fa4fde3e9361002c
SHA1 (patch-ab) = f9980b73a906658126092a370fe79eb41f08dbb4
SHA1 (patch-ac) = 655321720aa1e96b8d24f515ecd4b60233061802
SHA1 (patch-ad) = 839d787b1ffb62cdba5a6620dda07c3cedd0e9fb
SHA1 (patch-ae) = bc58ebeb3b3ad06f0747ce7760e290481004ec35
SHA1 (patch-af) = fec847fd48e14388ed51a485187a03e6a704be67
SHA1 (sot-romeo-v3-2.0.1.tar.gz) = cf8af22c3abee4440f6ff4bbee227d615b24be42
RMD160 (sot-romeo-v3-2.0.1.tar.gz) = c6a0900a0fce48bab39ffd36d0e49520fd311e5c
Size (sot-romeo-v3-2.0.1.tar.gz) = 760350 bytes
sot-romeo-v3/patches/patch-aa deleted 100644 → 0
+ 0
− 13
View file @ 35f9e89c
diff --git CMakeLists.txt CMakeLists.txt
index 6b72db5..5fab46a 100644
--- CMakeLists.txt
+++ CMakeLists.txt
@@ -45,7 +45,7 @@ ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0")
ADD_REQUIRED_DEPENDENCY("sot-tools")
ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
-ADD_ROSPACK_DEPENDENCY("dynamic_graph_bridge >= 3.0.0")
+ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge >= 3.0.0")
# Search for dependencies.
# Boost
SET(BOOST_COMPONENTS filesystem system thread)
sot-romeo-v3/patches/patch-ab deleted 100644 → 0
+ 0
− 13
View file @ 35f9e89c
diff --git src/CMakeLists.txt src/CMakeLists.txt
index 91cd64f..db40b6f 100644
--- src/CMakeLists.txt
+++ src/CMakeLists.txt
@@ -71,7 +71,7 @@ PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph")
PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph-python")
PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "sot-core")
-ROSPACK_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
+PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
IF(UNIX AND NOT APPLE)
sot-romeo-v3/patches/patch-ac deleted 100644 → 0
+ 0
− 12
View file @ 35f9e89c
diff --git CMakeLists.txt CMakeLists.txt
index 5fab46a..40d817b 100644
--- CMakeLists.txt
+++ CMakeLists.txt
@@ -54,6 +54,7 @@ SEARCH_FOR_EIGEN()
# Handle rpath necessary to handle ROS multiplace packages
# libraries inclusion
+SET(CMAKE_INSTALL_LIBDIR lib)
SET(CMAKE_SKIP_BUILD_RPATH FALSE)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
sot-romeo-v3/patches/patch-ad deleted 100644 → 0
+ 0
− 51
View file @ 35f9e89c
diff --git src/CMakeLists.txt src/CMakeLists.txt
index db40b6f..dc75a50 100644
--- src/CMakeLists.txt
+++ src/CMakeLists.txt
@@ -39,7 +39,7 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
ENDFUNCTION()
# Compile plug-ins.
-COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
+# COMPILE_PLUGIN(dynamic-romeo dynamic-romeo.cpp DynamicRomeo)
##
diff --git src/dynamic-romeo.cpp src/dynamic-romeo.cpp
index 9d9daa8..b419cfd 100644
--- src/dynamic-romeo.cpp
+++ src/dynamic-romeo.cpp
@@ -35,7 +35,6 @@ namespace dynamicgraph
: Dynamic (name)
{
sotDEBUGIN(15);
- DynamicRomeo::createRobot();
sotDEBUGOUT(15);
}
diff --git src/dynamic_graph/sot/romeo/robot.py src/dynamic_graph/sot/romeo/robot.py
index e9ea89f..9fce636 100644
--- src/dynamic_graph/sot/romeo/robot.py
+++ src/dynamic_graph/sot/romeo/robot.py
@@ -16,7 +16,7 @@
from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
from dynamic_graph.ros import RosRobotModel
-
+import pinocchio as se3
from rospkg import RosPack
# Sot model for the romeo_small.urdf (with gripper, no fingers)
@@ -204,6 +204,12 @@ class Robot (AbstractHumanoidRobot):
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
for i in self.jointMap:
self.dynamic.addJointMapping(i, self.jointMap[i])
+
+ self.pinocchioModel = se3.buildModelFromUrdf(self.urdfDir + self.urdfName,
+ se3.JointModelFreeFlyer())
+ self.pinocchioData = self.pinocchioModel.createData()
+ self.dynamic.setModel(self.pinocchioModel)
+ self.dynamic.setData(self.pinocchioData)
self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
sot-romeo-v3/patches/patch-ae deleted 100644 → 0
+ 0
− 29
View file @ 35f9e89c
diff --git src/dynamic_graph/sot/romeo/robot.py src/dynamic_graph/sot/romeo/robot.py
index 9fce636..d543666 100644
--- src/dynamic_graph/sot/romeo/robot.py
+++ src/dynamic_graph/sot/romeo/robot.py
@@ -168,8 +168,6 @@ class Robot (AbstractHumanoidRobot):
#0.0,
)
- jointMap = { }
- jointMap['BODY'] = 'body'
def __init__(self, name,
device = None,
@@ -202,15 +200,12 @@ class Robot (AbstractHumanoidRobot):
# correct the name of the body link
self.dynamic = RosRobotModel("{0}_dynamic".format(name))
- for i in self.jointMap:
- self.dynamic.addJointMapping(i, self.jointMap[i])
self.pinocchioModel = se3.buildModelFromUrdf(self.urdfDir + self.urdfName,
se3.JointModelFreeFlyer())
self.pinocchioData = self.pinocchioModel.createData()
self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData)
- self.dynamic.loadUrdf(self.urdfDir + self.urdfName)
# complete feet position (TODO: move it into srdf file)
#ankle =self.dynamic.getAnklePositionInFootFrame()
sot-romeo-v3/patches/patch-af deleted 100644 → 0
+ 0
− 11
View file @ 35f9e89c
--- CMakeLists.txt 2017-02-02 14:42:54.429473773 +0100
+++ CMakeLists.txt.new 2017-02-02 14:43:26.486211731 +0100
@@ -43,7 +43,7 @@
ADD_REQUIRED_DEPENDENCY("dynamic-graph-python >=3.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0")
ADD_REQUIRED_DEPENDENCY("sot-tools")
-ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 3.1")
+ADD_REQUIRED_DEPENDENCY("sot-dynamic-pinocchio >= 3.1")
ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge >= 3.0.0")
# Search for dependencies.
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