feat!: major controller improvements + ros version ahndled with macros

.clang-format

@@ -0,0 +1,29 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AllowAllParametersOfDeclarationOnNextLine: true
+# Do NOT force it always
+AlwaysBreakAfterReturnType: None
+AlignOperands: DontAlign
+BraceWrapping:
+  AfterClass: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterStruct: false
+BreakBeforeBraces: Custom
+BreakBeforeTernaryOperators: true
+BinPackArguments: false
+BinPackParameters: false
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+# Make it "cheap" to put the return type on its own line when needed
+PenaltyReturnTypeOnItsOwnLine: 50   # try 10–50
+ReflowComments: false
+IncludeBlocks: Preserve
+...

.clang-tidy

@@ -0,0 +1,41 @@
+Checks: >
+  # Disable all checks by default to explicitly enable those you want
+  -*,
+
+  # Bug Prone Checks: Focus on potential bugs and common mistakes
+  bugprone-*,
+
+  # Modernize Checks: Suggest modern C++ features and idioms
+  modernize-*,
+
+  # Performance Checks: Identify potential performance pitfalls
+  performance-*,
+
+  # Readability Checks: Improve code readability and maintainability
+  readability-*,
+
+  # Specific exceptions or stricter rules
+  -modernize-use-trailing-return-type, # Often generates noisy suggestions
+
+  # NOTE: These slow checks are disabled for pre-commit speed.
+  # Consider running them in CI:
+  # - clang-analyzer-* (deep dataflow analysis)
+  # - cppcoreguidelines-* (many checks, some overlap)
+  # - misc-*
+
+WarningsAsErrors: >
+  bugprone-*,
+
+HeaderFilterRegex: '^((?!/opt/ros|/usr/include).)*$'
+
+# AnalyzeTemporaryDtors: true
+# Disabled for speed. Enable in CI for thorough analysis.
+
+FormatStyle: file
+# Integrate with .clang-format to ensure consistent formatting options.
+
+CheckOptions:
+  # bugprone-argument-comment.StrictMode: 1
+  # readability-function-size.StatementThreshold: 800
+  # google-readability-braces-around-statements.ShortStatementLines: 1
+  # cert-str34-c.Strip: 'printf,sprintf,log'

.github/workflows/rolling_ros2_ci.yml

@@ -17,8 +17,6 @@ jobs:
       CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
       - uses: actions/checkout@v4 # clone target repository
-        with:
-          ref: rolling
       - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
         with:
           path: ${{ env.CCACHE_DIR }}

.gitignore

@@ -7,3 +7,5 @@ src/franka_description
 src/franka_ros2
 src/libfranka
 MUJOCO_LOG.TXT
+src/crisp_controllers.egg-info
+tmp

.pre-commit-config.yaml

@@ -0,0 +1,51 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-yaml
+      - id: check-added-large-files
+        args:
+          - --maxkb=2048
+      - id: check-merge-conflict
+  - repo: https://github.com/gitleaks/gitleaks
+    rev: v8.28.0
+    hooks:
+      - id: gitleaks
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v20.1.8
+    hooks:
+      - id: clang-format
+        types_or: [c++, c, cuda]
+
+  - repo: local
+    hooks:
+      - id: clang-tidy
+        name: clang-tidy
+        description: C++ code analysis tool
+        language: system
+        types_or: [c++, c, cuda]
+        always_run: false
+        pass_filenames: true
+        entry: bash -c
+        args:
+          - |
+            # If pre-commit passed no files, do nothing (success).
+            if [ "$#" -eq 0 ]; then
+              exit 0
+            fi
+            # Find compile_commands.json by searching up from current directory
+            d="$PWD"
+            while [ "$d" != "/" ]; do
+              if [ -f "$d/build/compile_commands.json" ]; then
+                # Run clang-tidy and ignore PCH-related errors
+                clang-tidy -p "$d/build" "$@" 2>&1 | grep -v "is not a valid precompiled PCH file" | grep -v "is not a PCH file:" || true
+                exit 0
+              fi
+              d="$(dirname "$d")"
+            done
+            echo "Error: compile_commands.json not found. Build the project first." >&2
+            exit 1
+          - --
+

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(crisp_controllers)
 
 find_program(CCACHE_PROGRAM ccache)
@@ -63,8 +63,8 @@ find_package(realtime_tools REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 
 generate_parameter_library(
-  cartesian_impedance_controller_parameters
-  src/cartesian_impedance_controller.yaml
+  cartesian_controller_parameters
+  src/cartesian_controller.yaml
 )
 
 generate_parameter_library(
@@ -112,7 +112,7 @@ endif()
 # Link parameter libraries to the main library
 target_link_libraries(${PROJECT_NAME}
   PRIVATE
-    cartesian_impedance_controller_parameters
+    cartesian_controller_parameters
     pose_broadcaster_parameters
     torque_feedback_controller_parameters
     twist_broadcaster_parameters

README.md

@@ -9,6 +9,10 @@
 
 CRISP is a collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`, including **Cartesian Impedance Control** and **Operational Space Control**. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is robot-agnostic and compatible with any manipulator offering and effort interface. Check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more! 
 
+
+> [!NOTE]
+> To reduce maintenance overhead, all ROS 2 distributions are supported from a single `main` branch. The code uses compile-time macros to handle version-specific differences.
+
 ## Features
 - 🐍 **Python interface** to move your ROS2 robot around without having to think about topics, spinning, and more ROS2 concepts but without loosing the powerful ROS2 API. Check [crisp_py](https://github.com/utiasDSL/crisp_py) for more information and examples.
 - 🔁 **Gymnasium environment** with utilities to deploy learning-based policies and record trajectories in LeRobotFormat. Check [crisp_gym](https://github.com/utiasDSL/crisp_gym).
@@ -24,10 +28,9 @@ ______
 
 ##### Updating the website
 
-We use [mkdocs](https://www.mkdocs.org/) to generate the website from markdown. You can modify it within `docs/` in particular the `index.md`.
-Then you can serve it locally or update the github pages with:
+We use [zensical](https://www.zensical.org/) to generate the website from markdown. You can modify it within `docs/` in particular the `index.md`.
+You can run the website locally with:
 ```bash
-uv run mkdocs serve
-uv run mkdocs gh-deploy
+pixi run zensical serve
 ```
-
+The website is automatically generated and deployed on GitHub pages with the CI. You can check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more!

docs/getting_started_controllers.md

@@ -22,7 +22,7 @@ Robots that we tested are:
 
 - **FR3** (real and simulated): https://github.com/danielsanjosepro/pixi_franka_ros2
 - **FER/Panda** (real): https://github.com/lvjonok/pixi_panda_ros2
-- **UR5** (real): https://github.com/danielsanjosepro/crisp_ur_demo
+- **UR** (real): https://github.com/lvjonok/pixi_ur_ros2
 - **IIWA** (simulated): https://github.com/danielsanjosepro/pixi_iiwa_ros2
 
 ### Grippers

docs/index.md

@@ -123,7 +123,7 @@ Our controllers have been tested in real hardware on the following robots:
   </div>
 
   <div class="robot-card">
-    <a href="https://github.com/danielsanjosepro/crisp_ur_demo">
+    <a href="https://github.com/lvjonok/pixi_ur_ros2">
         <img src="media/ur10_visual.png" alt="UR5">
         <div class="robot-name">UR5</div>
     </a>
@@ -172,8 +172,8 @@ Grippers tested in real hardware:
 
 Many thanks community contributions:
 
-- Lev Kozlov [@lvjonok](https://github.com/lvjonok) for testing and providing interfaces for the Panda/FER.
-- Vincenzo Orlando [@VinsOrl09](https://github.com/lvjonok) for testing and providing interfaces for the UR robots.
+- Lev Kozlov [@lvjonok](https://github.com/lvjonok) for testing and providing interfaces for the Panda/FER and UR with pixi.
+- Vincenzo Orlando [@VinsOrl09](https://github.com/lvjonok) for testing and providing interfaces for the UR robots in docker containers.
 - Linus Schwarz [@Linus-Schwarz](https://github.com/Linus-Schwarz) for testing and providing interfaces for the BOTA force-torque sensors.
 - Niklas Schlueter [@niklasschlueter](https://github.com/niklasschlueter) for testing and providing interfaces for the DynaArm robot.