humotion

cmake_minimum_required(VERSION 2.8.3)

project(humotion)

set(ENV{ROS_LANG_DISABLE} "genjava")

set(ROS_BUILD_TYPE Debug)

################################################################

# check for ROS support:

find_package(catkin REQUIRED COMPONENTS

    roscpp

    std_msgs

    sensor_msgs

    message_generation

    genmsg

    dynamic_reconfigure

)

IF (NOT catkin_FOUND)

  MESSAGE(FATAL_ERROR "Error: could not find ROS middleware!")

ENDIF (NOT catkin_FOUND)

INCLUDE(FindPkgConfig)

##libreflexxes

#IF (libreflexxes_DIR)

#  MESSAGE("using libreflexxes_DIR as override ('${libreflexxes_DIR}')")

#  SET(REFLEXXES_PREFIX ${libreflexxes_DIR})

#  SET(REFLEXXES_LIBRARY "ReflexxesTypeII")

#ELSE ()

  PKG_CHECK_MODULES(REFLEXXES REQUIRED libReflexxesTypeII>=1.2.3)

  IF (NOT REFLEXXES_FOUND)

    message(FATAL_ERROR "Error: could not find lib libReflexxesTypeII")

  ENDIF ()

#ENDIF ()

SET(REFLEXXES_LIBRARY_DIRS "${REFLEXXES_PREFIX}/lib")

SET(REFLEXXES_INCLUDE_DIRS "${REFLEXXES_PREFIX}/include")

#resolve to absolute library filename

#or is there an easier way to get the absolute lib filename from pkg config files?!

find_library(REFLEXXES_LIBRARY NAMES ${REFLEXXES_LIBRARIES} HINTS ${REFLEXXES_LIBRARY_DIRS})

MESSAGE("-- using libReflexxesTypeII version ${REFLEXXES_VERSION} from ${REFLEXXES_INCLUDE_DIRS} and ${REFLEXXES_LIBRARY_DIRS}")

MESSAGE("-- will link against ${REFLEXXES_LIBRARY}")

set(CMAKE_CXX_FLAGS "-g -Wall")

add_definitions ("-Wall")

#######################################

## Declare ROS messages and services ##

#######################################

add_message_files(

        FILES

        gaze.msg

        position_lcr.msg

        mouth.msg

)

## Generate added messages and services with any dependencies listed here

generate_messages(

        DEPENDENCIES

        std_msgs

        humotion

)

# add dynamic reconfigure api

generate_dynamic_reconfigure_options(

  cfg/humotion.cfg

)

#

###################################

## catkin specific configuration ##

###################################

## The catkin_package macro generates cmake config files for your package

## Declare things to be passed to dependent projects

## INCLUDE_DIRS: uncomment this if you package contains header files

## LIBRARIES: libraries you create in this project that dependent projects also need

## CATKIN_DEPENDS: catkin_packages dependent projects also need

## DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

    INCLUDE_DIRS include

    LIBRARIES humotion

    #CATKIN_DEPENDS message_runtime

    #DEPENDS system_lib

)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

include_directories(BEFORE ${Boost_INCLUDE_DIRS} ${REFLEXXES_INCLUDE_DIRS})

include_directories(BEFORE include)

#make sure to use ros messages from current build

include_directories(BEFORE ${CATKIN_DEVEL_PREFIX}/include)

#this should be appended:

include_directories(${catkin_INCLUDE_DIRS})

#link_directories (${Boost_LIBRARY_DIRS} ${REFLEXXES_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})

## Declare a cpp library

add_library(${PROJECT_NAME}

    src/client/client.cpp

    src/client/middleware.cpp

    src/client/middleware_ros.cpp

    src/server/server.cpp

    src/server/config.cpp

    src/server/middleware.cpp

    src/server/middleware_ros.cpp

    src/server/controller.cpp

    src/server/joint_interface.cpp

    src/server/motion_generator.cpp

    src/server/gaze_motion_generator.cpp

    src/server/reflexxes_motion_generator.cpp

    src/server/mouth_motion_generator.cpp

    src/server/eye_motion_generator.cpp

    src/server/eyelid_motion_generator.cpp

    src/server/eyebrow_motion_generator.cpp

    src/server/neck_motion_generator.cpp

    src/mouth_state.cpp

    src/gaze_state.cpp

    src/timestamp.cpp

    src/timestamped_list.cpp

)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

## Add cmake target dependencies of the executable/library

## as an example, message headers may need to be generated before nodes

add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp ${PROJECT_NAME}_gencfg)

## Specify libraries to link a library or executable target against

target_link_libraries(${PROJECT_NAME}

    ${Boost_LIBRARIES}

    ${catkin_LIBRARIES}

    ${REFLEXXES_LIBRARY}

)

set_property(TARGET ${PROJECT_NAME} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)

#############

## Install ##

#############

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## in contrast to setup.py, you can choose the destination

# install(PROGRAMS

#   scripts/my_python_script

#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark executables and/or libraries for installation

install(TARGETS ${PROJECT_NAME}

    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

## Mark cpp header files for installation

install(DIRECTORY include/humotion/

    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

)

#############

## Testing ##

#############

## Add gtest based cpp test target and link libraries

catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)

if(TARGET ${PROJECT_NAME}-test-server)

target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})

endif()

catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)

if(TARGET ${PROJECT_NAME}-test-client)

target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})

endif()

catkin_add_gtest(${PROJECT_NAME}-test-timestamp test/timestamp.cpp)

if(TARGET ${PROJECT_NAME}-test-timestamp)

target_link_libraries(${PROJECT_NAME}-test-timestamp ${PROJECT_NAME})

endif()

### Add folders to be run by python nosetests

# catkin_add_nosetests(test)

#finally build (some) examples

#add_subdirectory(./examples)

#################

## style guide ##

#################

set(ENABLE_CPPLINT 1)

include(${CMAKE_CURRENT_SOURCE_DIR}/stylecheck/CpplintWrapper.cmake)

CPPLINT_RECURSIVE(cpplint_include

  ${CMAKE_CURRENT_SOURCE_DIR}/include

  ${CMAKE_CURRENT_SOURCE_DIR}/include

  ${CMAKE_CURRENT_BINARY_DIR}/include)

CPPLINT_RECURSIVE(cpplint_src

  ${CMAKE_CURRENT_SOURCE_DIR}/src

  ${CMAKE_CURRENT_SOURCE_DIR}/src

  ${CMAKE_CURRENT_BINARY_DIR}/src)

add_dependencies(${PROJECT_NAME} cpplint_src cpplint_include)

#workaround for qtcreator ide integration. do not remove!

file(GLOB_RECURSE NODE_DUMMY_TARGETS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.h *.cfg *.yaml *.xml *.launch)

add_custom_target(_dummy_target SOURCES ${NODE_DUMMY_TARGETS})

                   GNU LESSER GENERAL PUBLIC LICENSE

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Library.

this is the low level robot control software to allow

human like motion generation on a humanoid robotic head

#!/usr/bin/env python

import re

PACKAGE = "humotion"

from dynamic_reconfigure.parameter_generator_catkin import *

def fetch_default(param_name):

    for line in open("../src/server/config.cpp"):

        if param_name in line:

            result = re.findall("=\s*([\d\w.]+);", line)

            print result

            if result:

                return result[0]

            else:

                print("ERROR: could not find parameter %s in config.cpp" % (param_name))

                sys.exit(1)

def add_entry(group, param_name, descr, min, max):

    default_str = fetch_default(param_name)

    default_val = float(default_str)

    if (default_val > max):

        print("ERROR: default value %f for %s exceeds max value (%f)" % (default_val, param_name, max))

        sys.exit(1)

    if (default_val < min):

        print("ERROR: default value %f for %s is under min value (%f)" % (default_val, param_name, min))

        sys.exit(1)

    group.add(param_name, double_t, 0, descr, default_val, min, max)

def add_entry_bool(group, param_name, descr):

    default = fetch_default(param_name)

    default_val = True

    if (default == "false"):

        default_val = False

    group.add(param_name, bool_t, 0, descr, default_val)

gen = ParameterGenerator()

debug_group = gen.add_group("debug")

add_entry_bool(debug_group, "publish_internals", "publish debugging data on different topics")

general_group = gen.add_group("thresholds")

add_entry(general_group, "threshold_velocity_eye_saccade", "velocity threshold for eye saccade detection (in deg/s)", 1.0, 30.0)

add_entry(general_group, "threshold_angle_neck_saccade", "magnitude of gaze change that triggers neck saccade (in deg)", 1.0, 30.0)

add_entry(general_group, "threshold_angle_omr_limit", "threshold for a deflection that triggers a correction neck saccade (in percent of OMR)", 0.1, 1.0)

neck_group = gen.add_group("neck")

add_entry(neck_group, "scale_velocity_neck", "scaling factor for neck velocity (in percent, 1.0 = full human velocities)", 0.1, 1.0)

add_entry(neck_group, "scale_acceleration_neck", "scaling factor for neck acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0)

add_entry(neck_group, "limit_velocity_neck", "limit for neck velocity (in deg/s)", 100.0, 800.0)

add_entry(neck_group, "limit_acceleration_neck", "limit for neck acceleration (in deg/s^2)", 100.0, 10000.0)

eye_group = gen.add_group("eye")

add_entry(eye_group, "scale_velocity_eye", "scaling factor for eye velocity (in percent, 1.0 = full human velocities)",  0.1, 1.0)

add_entry(eye_group, "scale_acceleration_eye", "scaling factor for eye acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0)

add_entry(eye_group, "limit_velocity_eye", "limit for eye velocity (in deg/s)", 100.0, 1000.0)

add_entry(eye_group, "limit_acceleration_eye", "limit for eye acceleration (in deg/s^2)", 100.0, 80000.0)

add_entry_bool(eye_group, "use_neck_target_instead_of_position_eye", "use neck target in difference calc instead of real position")