Release Version 5.1.0

Version 5.1.0 contains a few improvements to the behaviour and usage of the libraries. This release also includes substantial improvements to the python bindings, including class bindings for the robot model and controller library. Additional fixes and improvements have been made throughout the framework. Refer to the CHANGELOG for more information.
epfl-lasa · Apr 1, 2022 · 0f945c8 · 0f945c8
2 parents c521407 + b2d22e3
commit 0f945c8
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diff --git a/.github/actions/build-test-python/entrypoint.sh b/.github/actions/build-test-python/entrypoint.sh
@@ -1,10 +1,13 @@
 #!/bin/sh -l
 
 echo ">>> Installing control libraries..."
-bash /github/workspace/source/install.sh --auto --no-controllers --no-robot-model || exit 1
+bash /github/workspace/source/install.sh --auto || exit 1
 bash /github/workspace/protocol/install.sh --auto || exit 1
 
 echo ">>> Building Python bindings..."
+
+export OSQP_INCLUDE_DIR='/usr/local/include/osqp'
+export OPENROBOTS_INCLUDE_DIR='/opt/openrobots/include'
 pip3 install /github/workspace/python || (echo ">>> [ERROR] Build stage failed!" && exit 2) || exit $?
 
 echo ">>> Running all test stages..."

diff --git a/.github/workflows/build-test.yml b/.github/workflows/build-test.yml
@@ -11,7 +11,47 @@ on:
 
 # Define the build test jobs for each configuration
 jobs:
+
+  check-contribution:
+    name: Check if changelog and version have been updated
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Check contributions
+        if: ${{ github.event.pull_request.base.sha }}
+        run: |
+          git fetch origin main ${{ github.event.pull_request.base.sha }}
+          VER_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./VERSION)
+          if ! [ "${VER_DIFF}" ]; then
+            echo "::warning title=Contribution check failed::VERSION must be updated!"
+            exit 1
+          fi
+          CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./CHANGELOG.md)
+          if ! [ "${CL_DIFF}" ]; then
+            echo "::warning title=Contribution check failed::CHANGELOG.md must be updated!"
+            exit 1
+          fi
+        shell: bash
+
+  # check if jobs can be skipped
+  check-skippable-changes:
+    name: Check skippable changes
+    runs-on: ubuntu-latest
+    outputs:
+      skip: ${{ steps.check_if_skippable.outputs.should_skip }}
+    steps:
+      - id: check_if_skippable
+        uses: fkirc/skip-duplicate-actions@master
+        with:
+          cancel_others: 'true'
+          do_not_skip: '["workflow_dispatch"]'
+          paths_ignore: '["**.md"]'
+          skip_after_successful_duplicate: 'true'
+
   build-test-debug:
+    needs: check-skippable-changes
+    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
     runs-on: ubuntu-latest
     name: Debug configuration test
     steps:
@@ -25,6 +65,8 @@ jobs:
           configuration: Debug
 
   build-test-release:
+    needs: check-skippable-changes
+    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
     runs-on: ubuntu-latest
     name: Release configuration test
     steps:
@@ -38,7 +80,10 @@ jobs:
           configuration: Release
 
   build-test-python:
-    needs: build-test-release
+    needs:
+      - check-skippable-changes
+      - build-test-release
+    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
     runs-on: ubuntu-latest
     name: Python bindings test
     steps:
@@ -50,7 +95,10 @@ jobs:
         uses: ./.github/actions/build-test-python
 
   build-test-protocol:
-    needs: build-test-release
+    needs:
+      - check-skippable-changes
+      - build-test-release
+    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
     runs-on: ubuntu-latest
     name: Protocol library test
     steps:

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,6 +1,7 @@
 # CHANGELOG
 
 Release Versions:
+- [5.1.0](#510)
 - [5.0.0](#500)
 - [4.1.0](#410)
 - [4.0.0](#400)
@@ -9,6 +10,33 @@ Release Versions:
 - [2.0.0](#200)
 - [1.0.0](#100)
 
+## 5.1.0
+
+Version 5.1.0 contains a few new features and improvements to the behaviour and usage of the libraries.
+
+### Features
+
+**python**
+- Add python bindings for robot model (#263)
+- Controllers bindings (#266, #269, #271)
+
+### Fixes and improvements
+
+**protocol**
+- Add Docker resources for testing and serving for protocol (#267)
+
+**python**
+- Bind ParameterMap (#265, #268)
+
+**state_representation**
+- ParameterInterface accessors to underlying parameters (#256)
+
+**general**
+- Incremental versioning (#260)
+- Refactor cmake to export package (#259, #261)
+- Improve CI checks for pull requests (#262)
+- Remove previous eigen3 installation (#252, 264)
+
 ## 5.0.0
 
 Version 5.0.0 refactors the dynamical systems and controllers libraries with a

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -75,9 +75,10 @@ take several minutes.
 3. Document the header files and public functions with doxygen comments, and update any relevant README.md
    or documentation files with details of changes to the interface.
 4. Update the [changelog](CHANGELOG.md) with your feature / fix / improvement in the "Upcoming changes" section.
-5. Open a pull request into the `develop` branch. Write a meaningful title and description for the PR to make it
+5. Update the version number using the [update_version.sh](./update_version.sh) script.
+6. Open a pull request into the `develop` branch. Write a meaningful title and description for the PR to make it
    clear what changes you have made, why you have made them, and how you have tested the changes.
-6. You may merge the pull request into `develop` once you have the sign-off of one other developer and all CI tests pass.
+7. You may merge the pull request into `develop` once you have the sign-off of one other developer and all CI tests pass.
    Always use the "Squash and Merge" option to ensure your changes are contained within a single commit, maintaining
    a linear git history. If unsure, you may request another reviewer to merge it for you.
 
@@ -94,19 +95,17 @@ The `develop` branch is always considered to be a "release candidate" that conta
 code. If, at release time, there are features on `develop` that are considered unfinished or broken,
 they can be marked as `EXPERIMENTAL` to exclude them from compilation.
 
-At the time of release, a release branch should be made from development. In the release branch,
-the project version number should be updated in the following locations:
-- The [top-level CMakeLists](./source/CMakeLists.txt) 
-- The [python bindings setup.py](./python/setup.py)
-- The [clproto bindings CMakeLists](./protocol/clproto_cpp/CMakeLists.txt)
-- The PROJECT_NUMBER in the [doxygen config](./doxygen/doxygen.conf)
+At the time of release, usually when there is minor or major version update,
+a release branch should be made from development.
 
-In addition, the release branch should be used to finalize the [changelog](CHANGELOG.md), which includes
+The release branch should be used to finalize the [changelog](CHANGELOG.md), which includes
 moving all content from the "Upcoming changes (in development)" header under a new header with the corresponding
 release version.
 
 Once the changes specific to the release have been approved, a linear GitFlow strategy is used to
 merge this release branch into `main`, and then additionally squash and rebase the release branch back into `develop`.
 
+The release on `main` should be tagged with the corresponding version as `vX.Y.Z`.
+
 View and join the full discussion surrounding release workflow and strategy here: \
 https://github.com/epfl-lasa/control-libraries/discussions/77
diff --git a/VERSION b/VERSION
@@ -0,0 +1 @@
+5.1.0
diff --git a/demos/control_loop_examples/CMakeLists.txt b/demos/control_loop_examples/CMakeLists.txt
@@ -3,61 +3,36 @@ project(control_loop_examples)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
-    set(CMAKE_C_STANDARD 99)
+  set(CMAKE_C_STANDARD 99)
 endif()
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 list(APPEND CMAKE_PREFIX_PATH /opt/openrobots)
-find_package(Eigen3 REQUIRED)
-find_package(pinocchio REQUIRED)
-find_package(OsqpEigen REQUIRED)
-find_package(osqp REQUIRED)
-
-find_library(state_representation REQUIRED)
-find_library(dynamical_systems REQUIRED)
-find_library(controllers REQUIRED)
-find_library(robot_model REQUIRED)
-
-include_directories(
-    ${Eigen3_INCLUDE_DIRS}
-    ${STATE_REPRESENTATION_INCLUDE_DIR}
-    ${DYNAMICAL_SYSTEMS_INCLUDE_DIR}
-    ${ROBOT_MODEL_INCLUDE_DIR}
-    ${CONTROLLERS_INCLUDE_DIR}
-    ${PINOCCHIO_INCLUDE_DIR}
-    ${OsqpEigen_INCLUDE_DIR}
-    /opt/openrobots/include
-)
+include_directories(/opt/openrobots/include)
+
+find_package(control_libraries 5.0.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
-    task_space_control_loop
-    robot_kinematics_control_loop
+  task_space_control_loop
+  robot_kinematics_control_loop
 )
 
 set(FIXTURE_INSTALL_PATH /etc/fixtures/)
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/scripts/fixtures/ DESTINATION ${FIXTURE_INSTALL_PATH})
 
 foreach(SCRIPT ${DEMOS_SCRIPTS})
-    add_executable(${SCRIPT} scripts/${SCRIPT}.cpp)
-    target_link_libraries(${SCRIPT}
-        ${PINOCCHIO_LIBRARIES}
-        OsqpEigen::OsqpEigen
-        osqp::osqp
-        state_representation
-        dynamical_systems
-        robot_model
-        controllers
-    )
-    target_compile_definitions(${SCRIPT} PRIVATE SCRIPT_FIXTURES="${FIXTURE_INSTALL_PATH}")
-    install(TARGETS ${SCRIPT}
-      RUNTIME DESTINATION bin
-    )
+  add_executable(${SCRIPT} scripts/${SCRIPT}.cpp)
+  target_link_libraries(${SCRIPT} ${control_libraries_LIBRARIES})
+  target_compile_definitions(${SCRIPT} PRIVATE SCRIPT_FIXTURES="${FIXTURE_INSTALL_PATH}")
+  install(TARGETS ${SCRIPT}
+    RUNTIME DESTINATION bin
+  )
 endforeach()
diff --git a/demos/ros2_examples/CMakeLists.txt b/demos/ros2_examples/CMakeLists.txt
@@ -16,29 +16,13 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 list(APPEND CMAKE_PREFIX_PATH /opt/openrobots)
-find_package(Eigen3 REQUIRED)
-find_package(pinocchio REQUIRED)
-find_package(OsqpEigen REQUIRED)
-find_package(osqp REQUIRED)
+include_directories(/opt/openrobots/include)
 
-find_library(state_representation REQUIRED)
-find_library(dynamical_systems REQUIRED)
-find_library(controllers REQUIRED)
-find_library(robot_model REQUIRED)
+find_package(control_libraries 5.0.0 CONFIG REQUIRED)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-include_directories(
-    ${Eigen3_INCLUDE_DIRS}
-    ${STATE_REPRESENTATION_INCLUDE_DIR}
-    ${DYNAMICAL_SYSTEMS_INCLUDE_DIR}
-    ${ROBOT_MODEL_INCLUDE_DIR}
-    ${CONTROLLERS_INCLUDE_DIR}
-    ${PINOCCHIO_INCLUDE_DIR}
-    ${OsqpEigen_INCLUDE_DIR}
-    /opt/openrobots/include
-)
 
 set(DEMOS_SCRIPTS
     task_space_control_loop
@@ -50,13 +34,7 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/scripts/fixtures/ DESTINATION ${FI
 foreach(SCRIPT ${DEMOS_SCRIPTS})
     ament_auto_add_executable(${SCRIPT} scripts/${SCRIPT}.cpp)
     target_link_libraries(${SCRIPT}
-        ${PINOCCHIO_LIBRARIES}
-        OsqpEigen::OsqpEigen
-        osqp::osqp
-        state_representation
-        dynamical_systems
-        robot_model
-        controllers
+        ${control_libraries_LIBRARIES}
     )
     target_compile_definitions(${SCRIPT} PRIVATE SCRIPT_FIXTURES="${FIXTURE_INSTALL_PATH}")
 endforeach()

diff --git a/demos/ros_examples/CMakeLists.txt b/demos/ros_examples/CMakeLists.txt
@@ -16,15 +16,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 list(APPEND CMAKE_PREFIX_PATH /opt/openrobots)
-find_package(Eigen3 REQUIRED)
-find_package(pinocchio REQUIRED)
-find_package(OsqpEigen REQUIRED)
-find_package(osqp REQUIRED)
 
-find_library(state_representation REQUIRED)
-find_library(dynamical_systems REQUIRED)
-find_library(controllers REQUIRED)
-find_library(robot_model REQUIRED)
+find_package(control_libraries 5.0.0 CONFIG REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
     roscpp
@@ -43,13 +36,6 @@ catkin_package(
 
 include_directories(
     ${catkin_INCLUDE_DIRS}
-    ${Eigen3_INCLUDE_DIRS}
-    ${STATE_REPRESENTATION_INCLUDE_DIR}
-    ${DYNAMICAL_SYSTEMS_INCLUDE_DIR}
-    ${ROBOT_MODEL_INCLUDE_DIR}
-    ${CONTROLLERS_INCLUDE_DIR}
-    ${PINOCCHIO_INCLUDE_DIR}
-    ${OsqpEigen_INCLUDE_DIR}
     /opt/openrobots/include
 )
 
@@ -63,14 +49,8 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/scripts/fixtures/ DESTINATION ${FI
 foreach(SCRIPT ${DEMOS_SCRIPTS})
     add_executable(${SCRIPT} scripts/${SCRIPT}.cpp)
     target_link_libraries(${SCRIPT}
+        ${control_libraries_LIBRARIES}
         ${catkin_LIBRARIES}
-        ${PINOCCHIO_LIBRARIES}
-        OsqpEigen::OsqpEigen
-        osqp::osqp
-        state_representation
-        dynamical_systems
-        robot_model
-        controllers
     )
     target_compile_definitions(${SCRIPT} PRIVATE SCRIPT_FIXTURES="${FIXTURE_INSTALL_PATH}")
     install(TARGETS ${SCRIPT}

diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
@@ -38,8 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 5.0.0
-PROJECT_NUMBER         = 4.1.0
+PROJECT_NUMBER = 5.1.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/protocol/Dockerfile.protocol b/protocol/Dockerfile.protocol
@@ -0,0 +1,32 @@
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as dependencies
+ARG BRANCH=develop
+
+WORKDIR /source
+RUN git clone --depth 1 --branch "${BRANCH}" https://github.com/epfl-lasa/control-libraries
+RUN bash control-libraries/source/install.sh --auto --no-controllers --no-dynamical-systems --no-robot-model
+
+WORKDIR /tmp/protocol
+COPY ./ ./
+
+WORKDIR /tmp/protocol/protobuf
+RUN make all
+
+
+FROM dependencies as build
+ARG BUILD_TESTING=ON
+
+WORKDIR /tmp/protocol/clproto_cpp/build
+RUN cmake -DBUILD_TESTING="${BUILD_TESTING}" .. \
+  && make -j all
+
+
+FROM build as testing
+
+RUN CTEST_OUTPUT_ON_FAILURE=1 make test
+RUN rm -rf /tmp/protocol/
+
+
+FROM build as install
+
+RUN make install
+RUN rm -rf /tmp/protocol/