Generic Drake/ROS systems + RS Flip Flop example (#6)

* Stub code builds Signed-off-by: Shane Loretz <[email protected]> * Misc fixes to get it to build (but not link) with stub example Signed-off-by: Shane Loretz <[email protected]> * Fix comments on publisher system Signed-off-by: Shane Loretz <[email protected]> * ROS interface implementation fleshed out Signed-off-by: Shane Loretz <[email protected]> * Possible RosInterfaceSystem impl Signed-off-by: Shane Loretz <[email protected]> * Possible RosSubscriberSystem impl Signed-off-by: Shane Loretz <[email protected]> * Possible RosPublisherSystem implementation Signed-off-by: Shane Loretz <[email protected]> * RosPublisherSystem uses separate Serializer interface Signed-off-by: Shane Loretz <[email protected]> * RosSubscriberSystem uses separate Serializer interface Signed-off-by: Shane Loretz <[email protected]> * Add RS-flip-flop example Signed-off-by: Shane Loretz <[email protected]> * Add get_type_support() to SerializerInterface Signed-off-by: Shane Loretz <[email protected]> * Hello world pub example Publisher and ROS interface working, subscriber not yet working. Signed-off-by: Shane Loretz <[email protected]> Signed-off-by: Shane Loretz <[email protected]> * Fix includes for DrakeRosInterface and RosInterfaceSystem Signed-off-by: Shane Loretz <[email protected]> * ROS Subscriber works in Python Signed-off-by: Shane Loretz <[email protected]> * Implement flip-flop example in Python Signed-off-by: Shane Loretz <[email protected]> * Update README for C++ or Python example Signed-off-by: Shane Loretz <[email protected]> * Try more whitespace Signed-off-by: Shane Loretz <[email protected]> * Bullet to numbered list Signed-off-by: Shane Loretz <[email protected]> * Commands to play with the example Signed-off-by: Shane Loretz <[email protected]> * Blank line at EOF Signed-off-by: Shane Loretz <[email protected]> * Add linter tests Signed-off-by: Shane Loretz <[email protected]> * Add LICENSE file and header comments Signed-off-by: Shane Loretz <[email protected]> * Remove unused String import Signed-off-by: Shane Loretz <[email protected]> * Satisfy uncrustify Signed-off-by: Shane Loretz <[email protected]> * Satisfy cpplint Signed-off-by: Shane Loretz <[email protected]> * Custom node name, node opts, and init opts This adds a way to provide the node name and node options, as well as a way to externally manage init/shutdown on a context. If the given node options have a valid context, then DrakeRos won't call init or shutdown on it. In this way external code can pass init options. Signed-off-by: Shane Loretz <[email protected]> Signed-off-by: Shane Loretz <[email protected]> * Add additional publish triggers Signed-off-by: Shane Loretz <[email protected]> * Subscriber already unsubs on destruction Signed-off-by: Shane Loretz <[email protected]> * Allow setting QoS on Python systems Adds half a type caster (Python -> C++) for rclpy.qos.QoSProfile to rclcpp::QoS. Adds QoS arguments to Python publisher and subscriber systems. Updates the Python example to pass QoS. Signed-off-by: Shane Loretz <[email protected]> Signed-off-by: Shane Loretz <[email protected]> * Expose publish triggers to Python systems Signed-off-by: Shane Loretz <[email protected]> * Throw exception if Serialization fails Signed-off-by: Shane Loretz <[email protected]> * Remove obsolete comment Signed-off-by: Shane Loretz <[email protected]> * NodeOptions defaults to global context Signed-off-by: Shane Loretz <[email protected]> * Add integration test Signed-off-by: Shane Loretz <[email protected]> * Add Python integration test Signed-off-by: Shane Loretz <[email protected]> * Remove debug print Signed-off-by: Shane Loretz <[email protected]> * Fix bug where context wasn't being shut down Signed-off-by: Shane Loretz <[email protected]> * Add tests for DrakeRos Signed-off-by: Shane Loretz <[email protected]> * Do more in Python Signed-off-by: Shane Loretz <[email protected]>
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diff --git a/drake_ros_systems/CMakeLists.txt b/drake_ros_systems/CMakeLists.txt
@@ -0,0 +1,113 @@
+cmake_minimum_required(VERSION 3.10)
+project(drake_ros_systems)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(drake REQUIRED)
+# Must use Drake's fork of Pybind11
+find_package(pybind11 REQUIRED HINTS "${drake_DIR}/../pybind11" NO_DEFAULT_PATH)
+find_package(rclcpp REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
+find_package(rosidl_typesupport_cpp REQUIRED)
+
+add_library(drake_ros_systems
+  src/drake_ros.cpp
+  src/publisher.cpp
+  src/ros_interface_system.cpp
+  src/ros_publisher_system.cpp
+  src/ros_subscriber_system.cpp
+  src/subscription.cpp
+)
+target_link_libraries(drake_ros_systems PUBLIC
+  drake::drake
+  rclcpp::rclcpp
+  rosidl_runtime_c::rosidl_runtime_c
+  rosidl_typesupport_cpp::rosidl_typesupport_cpp
+)
+target_include_directories(drake_ros_systems
+  PUBLIC
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
+    "$<INSTALL_INTERFACE:include>"
+)
+
+add_subdirectory(example)
+
+ament_export_dependencies(drake)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(rosidl_generator_c)
+
+install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+###
+# Python bindings
+###
+pybind11_add_module(py_drake_ros_systems SHARED
+  src/python_bindings/module_drake_ros_systems.cpp
+)
+set_target_properties(py_drake_ros_systems PROPERTIES OUTPUT_NAME "drake_ros_systems")
+target_link_libraries(py_drake_ros_systems PRIVATE
+  drake_ros_systems
+)
+target_include_directories(drake_ros_systems
+  PRIVATE
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/python_bindings>"
+)
+
+# Sets PYTHON_INSTALL_DIR
+_ament_cmake_python_get_python_install_dir()
+
+install(
+  TARGETS py_drake_ros_systems
+  DESTINATION "${PYTHON_INSTALL_DIR}"
+)
+### End Python bindings
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(test_msgs REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_integration test/integration.cpp)
+
+  # TODO(sloretz) Why isn't pybind11::embed including python libs?
+  find_package(PythonLibs REQUIRED)
+
+  target_link_libraries(test_integration
+    drake::drake
+    drake_ros_systems
+    ${test_msgs_TARGETS}
+    pybind11::embed
+    # TODO(sloretz) Remove when this is included in pybind11::embed
+    ${PYTHON_LIBRARIES}
+  )
+
+  ament_add_gtest(test_drake_ros test/drake_ros.cpp)
+  target_link_libraries(test_drake_ros
+    drake_ros_systems
+  )
+endif()
+
+ament_package()