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Merged in feature/ocs2_anymal_perception (pull request #690)
Feature/ocs2 anymal perception Approved-by: Farbod Farshidian
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‎.gitattributes‎

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jenkins-pipeline merge-ours

‎jenkins-pipeline‎

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@@ -3,6 +3,8 @@ ciPipeline("--ros-distro noetic --publish-doxygen --recipes onnxruntime raisimli
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--dependencies '[email protected]:leggedrobotics/hpp-fcl.git;master;git'\
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'[email protected]:leggedrobotics/pinocchio.git;master;git'\
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'[email protected]:leggedrobotics/ocs2_robotic_assets.git;main;git'\
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'[email protected]:leggedrobotics/elevation_mapping_cupy.git;main;git'\
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'[email protected]:ANYbotics/grid_map.git;master;git'\
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--ignore ocs2_doc")
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node {

‎ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0)
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project(ocs2_anymal)
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find_package(catkin REQUIRED)
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catkin_metapackage()

‎ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>ocs2_anymal</name>
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<version>0.0.0</version>
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<description>The ocs2_anymal metapackage</description>
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<maintainer email="[email protected]">Farbod Farshidian</maintainer>
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<maintainer email="[email protected]">Jan Carius</maintainer>
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<maintainer email="[email protected]">Ruben Grandia</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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<exec_depend>ocs2_anymal_mpc</exec_depend>
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<exec_depend>ocs2_anymal_loopshaping_mpc</exec_depend>
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<export>
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<metapackage />
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</export>
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</package>

‎ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0)
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project(ocs2_anymal_commands)
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find_package(catkin REQUIRED COMPONENTS
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roslib
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ocs2_ros_interfaces
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ocs2_robotic_tools
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ocs2_switched_model_interface
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grid_map_filters_rsl
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)
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## Eigen3
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find_package(Eigen3 3.3 REQUIRED NO_MODULE)
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find_package(Boost REQUIRED COMPONENTS
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filesystem
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)
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# Generate compile_commands.json for clang tools
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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INCLUDE_DIRS
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include
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${EIGEN3_INCLUDE_DIRS}
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LIBRARIES
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${PROJECT_NAME}
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CATKIN_DEPENDS
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ocs2_ros_interfaces
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ocs2_robotic_tools
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ocs2_switched_model_interface
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DEPENDS
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Boost
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)
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###########
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## Build ##
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###########
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include_directories(
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include
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${EIGEN3_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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# Declare a C++ library
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add_library(${PROJECT_NAME}
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src/LoadMotions.cpp
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src/ModeSequenceKeyboard.cpp
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src/MotionCommandController.cpp
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src/MotionCommandDummy.cpp
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src/MotionCommandInterface.cpp
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src/PoseCommandToCostDesiredRos.cpp
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src/ReferenceExtrapolation.cpp
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src/TerrainAdaptation.cpp
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)
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add_dependencies(${PROJECT_NAME}
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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target_compile_options(${PROJECT_NAME} PUBLIC ${OCS2_CXX_FLAGS})
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# Declare a C++ Executable
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add_executable(target_command_node
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src/AnymalPoseCommandNode.cpp
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)
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add_dependencies(target_command_node
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(target_command_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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target_compile_options(target_command_node PRIVATE ${OCS2_CXX_FLAGS})
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add_executable(gait_command_node
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src/AnymalGaitNode.cpp
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)
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add_dependencies(gait_command_node
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(gait_command_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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target_compile_options(gait_command_node PRIVATE ${OCS2_CXX_FLAGS})
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add_executable(motion_command_node
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src/AnymalMotionCommandNode.cpp
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)
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add_dependencies(motion_command_node
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(motion_command_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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target_compile_options(motion_command_node PRIVATE ${OCS2_CXX_FLAGS})
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#############
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## Install ##
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#############
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS target_command_node gait_command_node motion_command_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY config
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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#############
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## Testing ##
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#############
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catkin_add_gtest(test_${PROJECT_NAME}
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test/testLoadMotions.cpp
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test/testReferenceExtrapolation.cpp
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test/testTerrainAdaptation.cpp
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)
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target_link_libraries(test_${PROJECT_NAME}
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${PROJECT_NAME}
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-lstdc++fs
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gtest_main
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)

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