Memo on catkin tools and vcs for the SoT

Memo on catkin tools and vcs for the SoT

Introduction

This memo explains how to handle super build (set of packages) with catkin tools. catkin tools should not confused with catkin_make. They can be installed independently from ROS.

Handling the repositories (VCS)

Checking out the SoT infra-structure

The set of repositories can be handled using the vcs software [https://github.com/dirk-thomas/vcstool]

The repositories for the SoT can be specified in a file sot_talos.repos as follows:

repositories:
  others/robotpkg_helpers:
    type: git
    url: https://github.com/olivier-stasse/robotpkg_helpers.git
    version: master
  src/dynamic-graph:
    type: git
    url: https://github.com/stack-of-tasks/dynamic-graph.git
    version: cmake-export
  src/dynamic-graph-python:
    type: git
    url: [email protected]:stack-of-tasks/dynamic-graph-python.git
    version: cmake-export
  src/dynamic_graph_bridge:
    type: git
    url: https://github.com/stack-of-tasks/dynamic_graph_bridge.git
    version: cmake-export
  src/dynamic_graph_bridge_msgs:
    type: git
    url: [email protected]:stack-of-tasks/dynamic_graph_bridge_msgs.git
    version: master
  src/jrl-walkgen:
    type: git
    url: [email protected]:stack-of-tasks/jrl-walkgen.git
    version: cmake-export
  src/roscontrol_sot:
    type: git
    url: [email protected]:stack-of-tasks/roscontrol_sot.git
    version: cmake-export
  src/sot-core:
    type: git
    url: https://github.com/stack-of-tasks/sot-core.git
    version: cmake-export
  src/sot-dynamic-pinocchio:
    type: git
    url: [email protected]:stack-of-tasks/sot-dynamic-pinocchio.git
    version: cmake-export
  src/sot-pattern-generator:
    type: git
    url: https://github.com/stack-of-tasks/sot-pattern-generator.git
    version: cmake-export
  src/sot-talos:
    type: git
    url: https://github.com/stack-of-tasks/sot-talos.git
    version: cmake-export
  src/sot-talos-balance:
    type: git
    url: [email protected]:loco-3d/sot-talos-balance.git
    version: cmake-export
  src/sot-tools:
    type: git
    url: https://github.com/stack-of-tasks/sot-tools.git
    version: cmake-export
  src/sot-torque-control:
    type: git
    url: [email protected]:stack-of-tasks/sot-torque-control.git
    version: cmake-export
  src/talos_data:
    type: git
    url: [email protected]:stack-of-tasks/talos_data.git
    version: cmake-export
  src/talos_metapkg_ros_control_sot:
    type: git
    url: https://github.com/stack-of-tasks/talos_metapkg_roscontrol_sot.git
    version: pal
  src/tsid:
    type: git
    url: https://github.com/olivier-stasse/tsid.git
    version: cmake-export

vcs import --recursive < sot_talos.repos

You can create your own file by going in the src directory of your workspace, and then type:

vcs export --repos > sot_talos.repos

Getting the current status of the repos

In the src directory of the workspace

vcs status -quiet

Compiling and testing the packages

Setting the cmake args

For instance we want to force the system to be in debug mode and to set some variables we can use the following command:

catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=DEBUG

It forces the package to be installed in the install folder, and forces all the CMake aware packages to be compiled in DEBUG mode.

A more involved example is the following:

local_cmake_args="--cmake-args -DCMAKE_BUILD_TYPE=DEBUG "
local_cmake_args="${local_cmake_args} -DPYTHON_STANDARD_LAYOUT:BOOL=ON"
local_cmake_args="${local_cmake_args} -DPYTHON_DEB_LAYOUT:BOOL=OFF"
local_cmake_args="${local_cmake_args} -DSETUPTOOLS_DEB_LAYOUT:BOOL=OFF"
catkin_config_args="--install -w $HOME/devel-src/sot_bionic_ws"
catkin_config_args="${catking_config_args} ${local_cmake_args}"
catkin config ${catkin_config_args} --

Compiling

Compiling everything

catkin build

Compiling a specific package with its dependencies

For instance the following command is compiling the dynamic-graph-python package:

catkin build dynamic-graph-python

Compiling a specific package without its dependencies

For instance the following command is compiling the dynamic-graph-python package:

catkin build dynamic-graph-python --no-deps

Clean all the build part

catkin clean 

Running tests

Example running the test programs of the package dynamic-graph-python in the workspace root directory:

catkin test dynamic-graph-python

Note: make sure that the install directory is specified in the environment variables: LD_LIBRARY_PATH, PYTHONPATH for instance. By default all dependent packages will also run the tests. To prevent this it is highly recommended to use:

catkin test dynamic-graph-python --no-deps

Computing coverage

You need to add to the CXX_FLAGS and the LD_FLAGS the value –coverage:

catkin config --append --cmake-args -DCMAKE_CXX_FLAGS="--coverage" -DCMAKE_LD_FLAGS="--coverage"

Then run the test:

catkin test dynamic-graph-python

And in the workspace root directory you need to run:

gcovr -r . --html --html-details -o ./logs/coverage/index.html

To get the output of the coverage:

firefox ./logs/coverage/index.html