Merge pull request #6 from RobotMotorIntelligence:topic/pre-commit-in…

…tegration

Pre commit integration

.pre-commit-config.yaml

@@ -0,0 +1,41 @@
+---
+ci:
+  autoupdate_branch: "master"
+repos:
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.12.0
+    hooks:
+    - id: isort
+      args:
+      - --profile
+      - black
+      - --project
+      - crocoddyl_msgs
+      - --filter-files
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v16.0.6
+    hooks:
+      - id: clang-format
+        args: [-i, --style=file]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-json
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+  - repo: https://github.com/executablebooks/mdformat
+    rev: 0.7.16
+    hooks:
+      - id: mdformat
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black

CMakeLists.txt

@@ -1,72 +1,75 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
-PROJECT(crocoddyl_msgs)
+cmake_minimum_required(VERSION 3.1)
+project(crocoddyl_msgs)
 
 # Set up project properties
-SET(PROJECT_NAME crocoddyl_msgs)
-SET(PROJECT_DESCRIPTION "Crocoddyl ROS messages")
+set(PROJECT_NAME crocoddyl_msgs)
+set(PROJECT_DESCRIPTION "Crocoddyl ROS messages")
 
 # Print initial message
-MESSAGE(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
-MESSAGE(STATUS "Copyright (C) 2020-2023 Heriot-Watt University, University of Oxford")
-MESSAGE(STATUS "All rights reserved.")
-MESSAGE(STATUS "Released under the BSD 3-Clause License.")
+message(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
+message(
+  STATUS "Copyright (C) 2020-2023 Heriot-Watt University, University of Oxford")
+message(STATUS "All rights reserved.")
+message(STATUS "Released under the BSD 3-Clause License.")
 
 # Find required packages
-FIND_PACKAGE(Eigen3 REQUIRED)
-FIND_PACKAGE(pinocchio REQUIRED)
-FIND_PACKAGE(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  whole_body_state_msgs
-  message_generation
-  realtime_tools
-  pybind11_catkin
-)
+find_package(Eigen3 REQUIRED)
+find_package(pinocchio REQUIRED)
+find_package(
+  catkin REQUIRED COMPONENTS roscpp std_msgs whole_body_state_msgs
+                             message_generation realtime_tools pybind11_catkin)
 
 # Define messages to be generated
-ADD_MESSAGE_FILES(
-  DIRECTORY msg
+add_message_files(
+  DIRECTORY
+  msg
   FILES
-   TimeInterval.msg
-   State.msg
-   Control.msg
-   FeedbackGain.msg
-   SolverStatistics.msg
-   SolverTrajectory.msg
-)
-GENERATE_MESSAGES(
-  DEPENDENCIES
-  std_msgs
-)
+  TimeInterval.msg
+  State.msg
+  Control.msg
+  FeedbackGain.msg
+  SolverStatistics.msg
+  SolverTrajectory.msg)
+generate_messages(DEPENDENCIES std_msgs)
 
 # Define catkin dependencies
-CATKIN_PACKAGE(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS message_runtime std_msgs whole_body_state_msgs
-  DEPENDS
-)
+catkin_package(
+  INCLUDE_DIRS
+  include
+  CATKIN_DEPENDS
+  message_runtime
+  std_msgs
+  whole_body_state_msgs
+  DEPENDS)
 
 # Define the Python modules
-SET(${PROJECT_NAME}_PYBIND11_MODULE
-  crocoddyl_ros
-)
+set(${PROJECT_NAME}_PYBIND11_MODULE crocoddyl_ros)
 
-IF(APPLE AND ${pybind11_catkin_VERSION} VERSION_LESS "2.10.3")
-  ADD_DEFINITIONS(-DCROCODDYL_MSG_DISABLE_PYBIND11_WARNINGS)
-ENDIF()
+if(APPLE AND ${pybind11_catkin_VERSION} VERSION_LESS "2.10.3")
+  add_definitions(-DCROCODDYL_MSG_DISABLE_PYBIND11_WARNINGS)
+endif()
 
 # Build the Python interface for the ROS publisher and subscriber
-ADD_COMPILE_OPTIONS(-Wall -Wpedantic -Wextra -Wno-sign-conversion)
-FOREACH(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
-  PYBIND11_ADD_MODULE(${PYBIND11_MODULE} MODULE src/${PYBIND11_MODULE}.cpp)
-  TARGET_INCLUDE_DIRECTORIES(${PYBIND11_MODULE} PRIVATE include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
-  TARGET_LINK_LIBRARIES(${PYBIND11_MODULE} PRIVATE ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${Boost_PYTHON_LIBRARY} pinocchio::pinocchio)
-  ADD_DEPENDENCIES(${PYBIND11_MODULE} ${crocoddyl_msgs_EXPORTED_TARGETS})
-  SET_TARGET_PROPERTIES(${PYBIND11_MODULE} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION})
-  INSTALL(TARGETS ${PYBIND11_MODULE} LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
-ENDFOREACH(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
+add_compile_options(-Wall -Wpedantic -Wextra -Wno-sign-conversion)
+foreach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
+  pybind11_add_module(${PYBIND11_MODULE} MODULE src/${PYBIND11_MODULE}.cpp)
+  target_include_directories(
+    ${PYBIND11_MODULE} PRIVATE include ${catkin_INCLUDE_DIRS}
+                               ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
+  target_link_libraries(
+    ${PYBIND11_MODULE} PRIVATE ${catkin_LIBRARIES} ${Boost_LIBRARIES}
+                               ${Boost_PYTHON_LIBRARY} pinocchio::pinocchio)
+  add_dependencies(${PYBIND11_MODULE} ${crocoddyl_msgs_EXPORTED_TARGETS})
+  set_target_properties(
+    ${PYBIND11_MODULE}
+    PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+               ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION})
+  install(TARGETS ${PYBIND11_MODULE}
+          LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
+endforeach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
 
 # Install the include files
-INSTALL(DIRECTORY include/${PROJECT_NAME}/  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-ADD_SUBDIRECTORY(unittest)
+add_subdirectory(unittest)

README.md

@@ -1,5 +1,4 @@
-Crocoddyl ROS messages
-==============================================
+# Crocoddyl ROS messages
 
 ## <img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction
 
@@ -10,17 +9,20 @@ Furthermore, the Python bindings of publishers and subscribers using roscpp help
 ## :penguin: Building
 
 **crocoddyl_msgs** has the following dependencies:
-* [std_msgs](http://wiki.ros.org/std_msgs)
-* [whole_body_state_msgs](https://github.com/loco-3d/whole_body_state_msgs)
-* [realtime_tools](http://wiki.ros.org/realtime_tools)
-* [pybind11_catkin](https://github.com/wxmerkt/pybind11_catkin), wrapping [pybind11](https://pybind11.readthedocs.io/en/stable/basics.html) for use in ROS1
-* [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page)
-* [pinocchio](https://github.com/stack-of-tasks/pinocchio)
+
+- [std_msgs](http://wiki.ros.org/std_msgs)
+- [whole_body_state_msgs](https://github.com/loco-3d/whole_body_state_msgs)
+- [realtime_tools](http://wiki.ros.org/realtime_tools)
+- [pybind11_catkin](https://github.com/wxmerkt/pybind11_catkin), wrapping [pybind11](https://pybind11.readthedocs.io/en/stable/basics.html) for use in ROS1
+- [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page)
+- [pinocchio](https://github.com/stack-of-tasks/pinocchio)
 
 To compile this catkin project you need to do:
 
-	cd your_ros_ws/
-	catkin build #catkin_make
+```
+cd your_ros_ws/
+catkin build #catkin_make
+```
 
 ## :copyright: Credits
 

include/crocoddyl_msgs/conversions.h

@@ -165,9 +165,8 @@ static inline void toMsg(
     throw std::invalid_argument("Expected a to be " + std::to_string(model.nv) +
                                 " but received " + std::to_string(a.size()));
   }
-  const std::size_t nv_root = model.joints[1].idx_q() == 0
-                                  ? model.joints[1].nv()
-                                  : 0;
+  const std::size_t nv_root =
+      model.joints[1].idx_q() == 0 ? model.joints[1].nv() : 0;
   const std::size_t njoints = model.nv - nv_root;
   if (tau.size() != static_cast<int>(njoints) && tau.size() != 0) {
     throw std::invalid_argument("Expected tau to be 0 or " +
@@ -463,9 +462,8 @@ fromMsg(const pinocchio::ModelTpl<double, Options, JointCollectionTpl> &model,
     throw std::invalid_argument("Expected a to be " + std::to_string(model.nv) +
                                 " but received " + std::to_string(v.size()));
   }
-  const std::size_t nv_root = model.joints[1].idx_q() == 0
-                                  ? model.joints[1].nv()
-                                  : 0;
+  const std::size_t nv_root =
+      model.joints[1].idx_q() == 0 ? model.joints[1].nv() : 0;
   const std::size_t njoints = model.nv - nv_root;
   if (tau.size() != static_cast<int>(njoints)) {
     throw std::invalid_argument("Expected tau to be " +
@@ -577,4 +575,4 @@ fromMsg(const pinocchio::ModelTpl<double, Options, JointCollectionTpl> &model,
 
 } // namespace crocoddyl_msgs
 
-#endif // CONVERSIONS_H_
+#endif // CONVERSIONS_H_

include/crocoddyl_msgs/solver_statistics_publisher.h

@@ -70,4 +70,4 @@ class SolverStatisticsRosPublisher {
 
 } // namespace crocoddyl_msgs
 
-#endif // CROCODDYL_MSG_SOLVER_STATISTICS_PUBLISHER_H_
+#endif // CROCODDYL_MSG_SOLVER_STATISTICS_PUBLISHER_H_

include/crocoddyl_msgs/solver_statistics_subscriber.h

@@ -116,4 +116,4 @@ class SolverStatisticsRosSubscriber {
 
 } // namespace crocoddyl_msgs
 
-#endif // CROCODDYL_MSG_SOLVER_STATISTICS_SUBSCRIBER_H_
+#endif // CROCODDYL_MSG_SOLVER_STATISTICS_SUBSCRIBER_H_

include/crocoddyl_msgs/solver_trajectory_subscriber.h

@@ -138,4 +138,4 @@ class SolverTrajectoryRosSubscriber {
 
 } // namespace crocoddyl_msgs
 
-#endif // CROCODDYL_MSG_SOLVER_TRAJECTORY_SUBSCRIBER_H_
+#endif // CROCODDYL_MSG_SOLVER_TRAJECTORY_SUBSCRIBER_H_

include/crocoddyl_msgs/whole_body_state_publisher.h

@@ -29,7 +29,8 @@ class WholeBodyStateRosPublisher {
       pinocchio::Model &model,
       const std::string &topic = "/crocoddyl/whole_body_state",
       const std::string &frame = "odom")
-      : model_(model), data_(model), odom_frame_(frame), a_(Eigen::VectorXd::Zero(model.nv)) {
+      : model_(model), data_(model), odom_frame_(frame),
+        a_(Eigen::VectorXd::Zero(model.nv)) {
     ros::NodeHandle n;
     pub_.init(n, topic, 1);
     pub_.msg_.header.frame_id = frame;

include/crocoddyl_msgs/whole_body_state_subscriber.h

@@ -155,4 +155,4 @@ class WholeBodyStateRosSubscriber {
 
 } // namespace crocoddyl_msgs
 
-#endif // CROCODDYL_MSG_WHOLE_BODY_STATE_SUBSCRIBER_H_
+#endif // CROCODDYL_MSG_WHOLE_BODY_STATE_SUBSCRIBER_H_

include/crocoddyl_msgs/whole_body_trajectory_subscriber.h

@@ -182,4 +182,4 @@ class WholeBodyTrajectoryRosSubscriber {
 
 } // namespace crocoddyl_msgs
 
-#endif // CROCODDYL_MSG_WHOLE_BODY_TRAJECTORY_SUBSCRIBER_H_
+#endif // CROCODDYL_MSG_WHOLE_BODY_TRAJECTORY_SUBSCRIBER_H_

msg/Control.msg

@@ -25,4 +25,4 @@ uint8 parametrization
 float64[] u
 
 # This represents the feedback gain
-crocoddyl_msgs/FeedbackGain gain
+crocoddyl_msgs/FeedbackGain gain

msg/FeedbackGain.msg

@@ -12,5 +12,5 @@
 uint32 nx
 uint32 nu
 
-# This represents the entries of the matrix allocated by row order. 
-float64[] data
+# This represents the entries of the matrix allocated by row order.
+float64[] data

msg/SolverStatistics.msg

@@ -23,4 +23,4 @@ float32 regularization
 float32 step_length
 float32 dynamic_feasibility
 float32 equality_feasibility
-float32 inequality_feasibility
+float32 inequality_feasibility

msg/SolverTrajectory.msg

@@ -18,4 +18,4 @@ crocoddyl_msgs/TimeInterval[] intervals
 crocoddyl_msgs/State[] state_trajectory
 
 # This represents the control for each interval
-crocoddyl_msgs/Control[] control_trajectory
+crocoddyl_msgs/Control[] control_trajectory

msg/State.msg

@@ -5,7 +5,7 @@
 #  * the state's rate of change during the interval,
 # in which the state contains the robot's posture and velocity.
 #
-# The initial state and its rate of change allow us to compute the 
+# The initial state and its rate of change allow us to compute the
 # state in a desired time.
 #
 # The order of the state is designed to be consistent with the URDF.
@@ -16,4 +16,4 @@
 float64[] x
 
 # This represents the state's rate of change during the interval
-float64[] dx
+float64[] dx

msg/TimeInterval.msg

@@ -11,4 +11,4 @@
 float64 time
 
 # This represents the duration of the interval
-float64 duration
+float64 duration

package.xml

@@ -3,7 +3,7 @@
   <name>crocoddyl_msgs</name>
   <version>0.0.1</version>
   <description>
-    Message structures needed to interact with Crocoddyl solvers, inputs and outputs
+    Message structures needed to interact with Crocoddyl solvers, inputs and outputs.
   </description>
 
   <maintainer email="[email protected]">Carlos Mastalli</maintainer>
@@ -13,6 +13,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <!-- build and runtime dependencies -->
   <depend>roscpp</depend>
   <depend>eigen</depend>
   <depend>std_msgs</depend>
@@ -21,13 +22,23 @@
   <depend>pybind11_catkin</depend>
   <depend>pinocchio</depend>
 
+  <!-- build dependencies -->
   <build_depend>rospy</build_depend>
   <build_depend>message_generation</build_depend>
 
+  <!-- runtime dependencies -->
   <exec_depend>rospy</exec_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
   <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <test_depend>rostest</test_depend>
-</package>
+
+  <export>
+    <!-- This suffers from a bug in catkin, cf.: https://github.com/ros/catkin/issues/1170 -->
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
+</package>

src/crocoddyl_ros.cpp

@@ -208,4 +208,4 @@ PYBIND11_MODULE(crocoddyl_ros, m) {
            "friction\n"
            "coefficients.")
       .def("has_new_msg", &WholeBodyTrajectoryRosSubscriber::has_new_msg);
-}
+}