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Merge pull request #5 from ros2/controller_manager
import controller_manager
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cmake_minimum_required(VERSION 3.5) | ||
project(controller_manager) | ||
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# Default to C++14 | ||
if(NOT CMAKE_CXX_STANDARD) | ||
set(CMAKE_CXX_STANDARD 14) | ||
endif() | ||
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
add_compile_options(-Wall -Wextra) | ||
endif() | ||
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find_package(ament_cmake) | ||
find_package(ament_cmake_core REQUIRED) | ||
find_package(ament_index_cpp REQUIRED) | ||
find_package(class_loader REQUIRED) | ||
find_package(controller_interface REQUIRED) | ||
find_package(hardware_interface REQUIRED) | ||
find_package(rclcpp REQUIRED) | ||
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add_library(controller_manager SHARED src/controller_manager.cpp) | ||
target_include_directories(controller_manager PRIVATE include) | ||
ament_target_dependencies(controller_manager | ||
"ament_index_cpp" | ||
"class_loader" | ||
"controller_interface" | ||
"hardware_interface" | ||
"rclcpp" | ||
) | ||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") | ||
target_link_libraries(controller_manager "stdc++fs") | ||
endif() | ||
# Causes the visibility macros to use dllexport rather than dllimport, | ||
# which is appropriate when building the dll but not consuming it. | ||
target_compile_definitions(controller_manager PRIVATE "CONTROLLER_MANAGER_BUILDING_DLL") | ||
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install(TARGETS controller_manager | ||
RUNTIME DESTINATION bin | ||
LIBRARY DESTINATION lib | ||
ARCHIVE DESTINATION lib | ||
) | ||
install(DIRECTORY include/ | ||
DESTINATION include | ||
) | ||
install(DIRECTORY cmake/ | ||
DESTINATION share/${PROJECT_NAME}/cmake | ||
) | ||
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if(BUILD_TESTING) | ||
find_package(ament_lint_auto REQUIRED) | ||
ament_lint_auto_find_test_dependencies() | ||
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ament_index_get_prefix_path(ament_index_build_path SKIP_AMENT_PREFIX_PATH) | ||
# Get the first item (it will be the build space version of the build path). | ||
list(GET ament_index_build_path 0 ament_index_build_path) | ||
if(WIN32) | ||
# On Windows prevent CMake errors and prevent it being evaluated as a list. | ||
string(REPLACE "\\" "/" ament_index_build_path "${ament_index_build_path}") | ||
endif() | ||
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add_library(test_controller SHARED test/test_controller/test_controller.cpp) | ||
target_include_directories(test_controller PRIVATE include) | ||
target_link_libraries(test_controller controller_manager) | ||
target_compile_definitions(test_controller PRIVATE "CONTROLLER_MANAGER_BUILDING_DLL") | ||
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include(cmake/controller_manager_register_controller.cmake) | ||
controller_manager_register_controller( | ||
test_controller "test_controller::TestController" | ||
SKIP_INSTALL) | ||
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ament_add_gtest( | ||
test_controller_manager | ||
test/test_controller_manager.cpp | ||
) | ||
target_include_directories(test_controller_manager PRIVATE include) | ||
target_link_libraries(test_controller_manager controller_manager test_controller) | ||
ament_target_dependencies( | ||
test_controller_manager | ||
test_robot_hardware | ||
) | ||
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ament_add_gtest( | ||
test_load_controller | ||
test/test_load_controller.cpp | ||
APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}_$<CONFIG> | ||
) | ||
target_include_directories(test_load_controller PRIVATE include) | ||
target_link_libraries(test_load_controller controller_manager) | ||
ament_target_dependencies( | ||
test_load_controller | ||
test_robot_hardware | ||
) | ||
endif() | ||
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ament_export_libraries( | ||
controller_manager | ||
) | ||
ament_export_include_directories( | ||
include | ||
) | ||
ament_export_dependencies( | ||
class_loader | ||
) | ||
ament_package( | ||
CONFIG_EXTRAS cmake/controller_manager_register_controller.cmake | ||
) |
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controller_manager/cmake/controller_manager_register_controller.cmake
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# Copyright 2017 Open Source Robotics Foundation, Inc. | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
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find_package(ament_cmake_core REQUIRED) | ||
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macro(controller_manager_register_controller target) | ||
if(NOT TARGET ${target}) | ||
message( | ||
FATAL_ERROR | ||
"controller_manager_register_controller() first argument " | ||
"'${target}' is not a target") | ||
endif() | ||
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cmake_parse_arguments(_ARG "SKIP_INSTALL" "" "" ${ARGN}) | ||
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get_target_property(_target_type ${target} TYPE) | ||
if(NOT _target_type STREQUAL "SHARED_LIBRARY") | ||
message( | ||
FATAL_ERROR | ||
"controller_manager_register_controller() first argument " | ||
"'${target}' is not a shared library target") | ||
endif() | ||
set(_unique_names) | ||
foreach(_arg ${_ARG_UNPARSED_ARGUMENTS}) | ||
if(_arg IN_LIST _unique_names) | ||
message( | ||
FATAL_ERROR | ||
"controller_manager_register_controller() the plugin names " | ||
"must be unique (multiple '${_arg}')") | ||
endif() | ||
list(APPEND _unique_names "${_arg}") | ||
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if(_ARG_SKIP_INSTALL) | ||
set(_library_path $<TARGET_FILE:${target}>) | ||
else() | ||
if(WIN32) | ||
set(_path "bin") | ||
else() | ||
set(_path "lib") | ||
endif() | ||
set(_library_path ${_path}/$<TARGET_FILE_NAME:${target}>) | ||
endif() | ||
set(_ROS_CONTROLLERS | ||
"${_ROS_CONTROLLERS}${_arg};${_library_path}\n") | ||
endforeach() | ||
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if(_ARG_SKIP_INSTALL) | ||
ament_index_register_resource("ros_controllers" CONTENT ${_ROS_CONTROLLERS} AMENT_INDEX_BINARY_DIR "${CMAKE_BINARY_DIR}/ament_cmake_index_$<CONFIG>" SKIP_INSTALL) | ||
else() | ||
ament_index_register_resource("ros_controllers" CONTENT ${_ROS_CONTROLLERS}) | ||
endif() | ||
endmacro() |
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controller_manager/include/controller_manager/controller_manager.hpp
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// Copyright 2017 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef CONTROLLER_MANAGER__CONTROLLER_MANAGER_HPP_ | ||
#define CONTROLLER_MANAGER__CONTROLLER_MANAGER_HPP_ | ||
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#include <memory> | ||
#include <string> | ||
#include <tuple> | ||
#include <vector> | ||
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#include "controller_interface/controller_interface.hpp" | ||
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#include "controller_manager/visibility_control.h" | ||
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#include "hardware_interface/robot_hardware.hpp" | ||
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#include "rclcpp/executor.hpp" | ||
#include "rclcpp/node.hpp" | ||
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namespace class_loader | ||
{ | ||
class ClassLoader; | ||
} // namespace class_loader | ||
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namespace controller_manager | ||
{ | ||
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class ControllerManager : public rclcpp::node::Node | ||
{ | ||
public: | ||
CONTROLLER_MANAGER_PUBLIC | ||
ControllerManager( | ||
std::shared_ptr<hardware_interface::RobotHardware> hw, | ||
std::shared_ptr<rclcpp::executor::Executor> executor, | ||
const std::string & name = "controller_manager"); | ||
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CONTROLLER_MANAGER_PUBLIC | ||
virtual | ||
~ControllerManager() = default; | ||
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CONTROLLER_MANAGER_PUBLIC | ||
std::shared_ptr<controller_interface::ControllerInterface> | ||
load_controller( | ||
const std::string & package_name, | ||
const std::string & class_name, | ||
const std::string & controller_name); | ||
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CONTROLLER_MANAGER_PUBLIC | ||
std::vector<std::shared_ptr<controller_interface::ControllerInterface>> | ||
get_loaded_controller() const; | ||
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template< | ||
typename T, | ||
typename std::enable_if<std::is_convertible< | ||
T *, controller_interface::ControllerInterface *>::value, T>::type * = nullptr> | ||
std::shared_ptr<controller_interface::ControllerInterface> | ||
add_controller(std::shared_ptr<T> controller, std::string controller_name) | ||
{ | ||
return add_controller_impl(controller, controller_name); | ||
} | ||
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CONTROLLER_MANAGER_PUBLIC | ||
controller_interface::controller_interface_ret_t | ||
update(); | ||
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CONTROLLER_MANAGER_PUBLIC | ||
controller_interface::controller_interface_ret_t | ||
configure() const; | ||
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CONTROLLER_MANAGER_PUBLIC | ||
controller_interface::controller_interface_ret_t | ||
activate() const; | ||
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CONTROLLER_MANAGER_PUBLIC | ||
controller_interface::controller_interface_ret_t | ||
deactivate() const; | ||
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CONTROLLER_MANAGER_PUBLIC | ||
controller_interface::controller_interface_ret_t | ||
cleanup() const; | ||
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protected: | ||
CONTROLLER_MANAGER_PUBLIC | ||
std::shared_ptr<controller_interface::ControllerInterface> | ||
add_controller_impl( | ||
std::shared_ptr<controller_interface::ControllerInterface> controller, | ||
const std::string & controller_name); | ||
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private: | ||
std::shared_ptr<hardware_interface::RobotHardware> hw_; | ||
std::shared_ptr<rclcpp::executor::Executor> executor_; | ||
std::vector<std::shared_ptr<class_loader::ClassLoader>> loaders_; | ||
std::vector<std::shared_ptr<controller_interface::ControllerInterface>> loaded_controllers_; | ||
}; | ||
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} // namespace controller_manager | ||
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#endif // CONTROLLER_MANAGER__CONTROLLER_MANAGER_HPP_ |
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controller_manager/include/controller_manager/visibility_control.h
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// Copyright 2017 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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/* This header must be included by all rclcpp headers which declare symbols | ||
* which are defined in the rclcpp library. When not building the rclcpp | ||
* library, i.e. when using the headers in other package's code, the contents | ||
* of this header change the visibility of certain symbols which the rclcpp | ||
* library cannot have, but the consuming code must have inorder to link. | ||
*/ | ||
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#ifndef CONTROLLER_MANAGER__VISIBILITY_CONTROL_H_ | ||
#define CONTROLLER_MANAGER__VISIBILITY_CONTROL_H_ | ||
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki: | ||
// https://gcc.gnu.org/wiki/Visibility | ||
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#if defined _WIN32 || defined __CYGWIN__ | ||
#ifdef __GNUC__ | ||
#define CONTROLLER_MANAGER_EXPORT __attribute__ ((dllexport)) | ||
#define CONTROLLER_MANAGER_IMPORT __attribute__ ((dllimport)) | ||
#else | ||
#define CONTROLLER_MANAGER_EXPORT __declspec(dllexport) | ||
#define CONTROLLER_MANAGER_IMPORT __declspec(dllimport) | ||
#endif | ||
#ifdef CONTROLLER_MANAGER_BUILDING_DLL | ||
#define CONTROLLER_MANAGER_PUBLIC CONTROLLER_MANAGER_EXPORT | ||
#else | ||
#define CONTROLLER_MANAGER_PUBLIC CONTROLLER_MANAGER_IMPORT | ||
#endif | ||
#define CONTROLLER_MANAGER_PUBLIC_TYPE CONTROLLER_MANAGER_PUBLIC | ||
#define CONTROLLER_MANAGER_LOCAL | ||
#else | ||
#define CONTROLLER_MANAGER_EXPORT __attribute__ ((visibility("default"))) | ||
#define CONTROLLER_MANAGER_IMPORT | ||
#if __GNUC__ >= 4 | ||
#define CONTROLLER_MANAGER_PUBLIC __attribute__ ((visibility("default"))) | ||
#define CONTROLLER_MANAGER_LOCAL __attribute__ ((visibility("hidden"))) | ||
#else | ||
#define CONTROLLER_MANAGER_PUBLIC | ||
#define CONTROLLER_MANAGER_LOCAL | ||
#endif | ||
#define CONTROLLER_MANAGER_PUBLIC_TYPE | ||
#endif | ||
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#endif // CONTROLLER_MANAGER__VISIBILITY_CONTROL_H_ |
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<?xml version="1.0"?> | ||
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
<package format="2"> | ||
<name>controller_manager</name> | ||
<version>0.0.0</version> | ||
<description>Description of controller_manager</description> | ||
<maintainer email="karsten@osrfoundation.org">karsten</maintainer> | ||
<license>Apache License 2.0</license> | ||
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<buildtool_depend>ament_cmake</buildtool_depend> | ||
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<build_depend>ament_index_cpp</build_depend> | ||
<build_depend>class_loader</build_depend> | ||
<build_depend>controller_interface</build_depend> | ||
<build_depend>hardware_interface</build_depend> | ||
<build_depend>rclcpp</build_depend> | ||
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<exec_depend>ament_index_cpp</exec_depend> | ||
<exec_depend>class_loader</exec_depend> | ||
<exec_depend>controller_interface</exec_depend> | ||
<exec_depend>hardware_interface</exec_depend> | ||
<exec_depend>rclcpp</exec_depend> | ||
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<test_depend>ament_cmake_gtest</test_depend> | ||
<test_depend>ament_lint_auto</test_depend> | ||
<test_depend>ament_lint_common</test_depend> | ||
<test_depend>test_robot_hardware</test_depend> | ||
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<export> | ||
<build_type>ament_cmake</build_type> | ||
</export> | ||
</package> |
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