Merge remote-tracking branch 'ocs2_anymal/feature/perception' into feature/ocs2_anymal_perception

# Conflicts:
#	.gitignore
#	README.md
#	jenkins-pipeline

Author: rubengrandia

.gitattributes

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+jenkins-pipeline merge-ours

common/ocs2_anymal_commands/CMakeLists.txt

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