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Update ur_kinematics #453

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Update ur_kinematics #453

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89a9e59
Modernized ur_kinematics cpp implementation and added support for the…
Jul 8, 2019
b687b49
Re-wrote ur_kinematics python bindings using pybind11
Jul 8, 2019
ff455e7
Added solution enumeration function allowing to obtain all solutions …
Jul 16, 2019
4a1b92f
Updated the python bindings to handle the solution expansion
Jul 17, 2019
2f4e33d
Updated the .gitmodules file in ur_kinematics
Sep 5, 2019
1770fa7
Update CMakeLists.txt
Yuki-cpp Sep 5, 2019
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3 changes: 3 additions & 0 deletions .gitmodules
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[submodule "ur_kinematics/pybind11"]
path = ur_kinematics/pybind11
url = https://github.com/pybind/pybind11.git
7 changes: 6 additions & 1 deletion ur10_e_moveit_config/config/kinematics.yaml
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manipulator:
# manipulator:
# kinematics_solver: ur_kinematics/UR10EKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
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2 changes: 1 addition & 1 deletion ur10_moveit_config/config/kinematics.yaml
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#manipulator:
# manipulator:
# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
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7 changes: 6 additions & 1 deletion ur3_e_moveit_config/config/kinematics.yaml
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manipulator:
# manipulator:
# kinematics_solver: ur_kinematics/UR3EKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
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2 changes: 1 addition & 1 deletion ur3_moveit_config/config/kinematics.yaml
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#manipulator:
# manipulator:
# kinematics_solver: ur_kinematics/UR3KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
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9 changes: 7 additions & 2 deletions ur5_e_moveit_config/config/kinematics.yaml
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manipulator:
# manipulator:
# kinematics_solver: ur_kinematics/UR5EKinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
# kinematics_solver_attempts: 3
manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
kinematics_solver_attempts: 3
2 changes: 1 addition & 1 deletion ur5_moveit_config/config/kinematics.yaml
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#manipulator:
# manipulator:
# kinematics_solver: ur_kinematics/UR5KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
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86 changes: 57 additions & 29 deletions ur_kinematics/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.1)
project(ur_kinematics)

add_compile_options(-std=c++11)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

option(BUILD_BENCHMARK "Build the ur_kinematics benchmarks (requires google benchmark)" OFF)
option(BUILD_TESTS "Build tests (requires GTest)" OFF)

find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core moveit_kinematics
moveit_ros_planning pluginlib tf_conversions)

find_package(Boost REQUIRED COMPONENTS system)
find_package(PythonLibs REQUIRED)

catkin_python_setup()

catkin_package(
INCLUDE_DIRS include
LIBRARIES ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin
LIBRARIES ur3_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin ur3_e_moveit_plugin ur5_e_moveit_plugin ur10_e_moveit_plugin
CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_kinematics moveit_ros_planning
pluginlib tf_conversions
DEPENDS Boost
)

include_directories(SYSTEM ${PYTHON_NUMPY_INCLUDE_DIR})
include_directories(SYSTEM ${PYTHON_INCLUDE_DIRS})
add_subdirectory(pybind11)

###########
## Build ##
Expand All @@ -26,43 +34,63 @@ catkin_package(
include_directories(SYSTEM ${Boost_INCLUDE_DIR})
include_directories(include ${catkin_INCLUDE_DIRS})

add_library(ur3_kin src/ur_kin.cpp)
set_target_properties(ur3_kin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS")
define_property( GLOBAL PROPERTY UR_TARGETS_PROP
BRIEF_DOCS "Targets list"
FULL_DOCS "Targets list")

function(ADD_ROBOT ROBOT)
string(TOUPPER ${ROBOT} UPPER_ROBOT)
string(TOLOWER ${ROBOT} LOWER_ROBOT)

set(ROBOT_PARAMS "${UPPER_ROBOT}_PARAMS")
set(TARGET_NAME "${LOWER_ROBOT}_moveit_plugin")

add_library(ur5_kin src/ur_kin.cpp)
set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
add_library(${TARGET_NAME} src/ur_moveit_plugin.cpp)
set_target_properties(${TARGET_NAME} PROPERTIES COMPILE_DEFINITIONS ${ROBOT_PARAMS})
target_link_libraries(${TARGET_NAME}
${catkin_LIBRARIES}
${Boost_LIBRARIES})

add_library(ur10_kin src/ur_kin.cpp)
set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
set_property(GLOBAL APPEND PROPERTY UR_TARGETS_PROP ${TARGET_NAME})
endfunction()


add_library(ur3_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur3_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR3_PARAMS")
target_link_libraries(ur3_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur3_kin)

add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
target_link_libraries(ur5_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur5_kin)
ADD_ROBOT("ur3")
ADD_ROBOT("ur5")
ADD_ROBOT("ur10")

add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
target_link_libraries(ur10_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
ur10_kin)
ADD_ROBOT("ur3_e")
ADD_ROBOT("ur5_e")
ADD_ROBOT("ur10_e")

pybind11_add_module(ur_kin_py src/ur_kin_py.cpp)
target_link_libraries(ur_kin_py PRIVATE ${catkin_LIBRARIES})
set_target_properties(ur_kin_py PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION})

if(BUILD_BENCHMARK)
find_package(benchmark REQUIRED)
add_executable(benchmark_kinematics src/benchmark_kinematics.cpp)
target_link_libraries(benchmark_kinematics
${catkin_LIBRARIES}
${Boost_LIBRARIES}
benchmark)
set_property(GLOBAL APPEND PROPERTY UR_TARGETS_PROP benchmark_kinematics)
endif()

if(BUILD_TESTS)
find_package(GTest REQUIRED)
add_executable(ur_kinematics_tests src/test_kinematics.cpp )
# Link test executable against gtest & gtest_main
target_link_libraries(ur_kinematics_tests GTest::Main GTest::GTest)
gtest_discover_tests(ur_kinematics_tests)
endif()

#############
## Install ##
#############

install(TARGETS ur3_kin ur5_kin ur10_kin ur3_moveit_plugin ur5_moveit_plugin ur10_moveit_plugin
get_property(UR_TARGETS GLOBAL PROPERTY UR_TARGETS_PROP)
install(TARGETS ${$UR_TARGETS}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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