removed optimization framework using casadi (#26)

* removed optimiazation framework using casadi

* remove dependency to casadi from rosinstall

* remove latest cmake install part for melodic and kinetc

* removed source files related to pinocchio robot model

* remove catkin linter for casadi related packages

* removed dependency to pinocchio

.github/workflows/catkin_lint.yml

@@ -28,4 +28,4 @@ jobs:
           wstool init
           wstool merge aerial_robot_noetic.rosinstall
           wstool update
-          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio --skip-path ros_controllers --skip-path casadi_catkin --skip-path casadi_eigen
+          ROS_DISTRO=noetic catkin_lint --resolve-env --strict $PWD --skip-path kalman_filter --skip-path ublox_gps --skip-path aerial_robot_3rdparty  --skip-path rosserial --skip-path livox_ros_driver2 --skip-path fast_lio --skip-path ros_controllers

.travis.sh

@@ -69,28 +69,6 @@ if [[ "$ROS_DISTRO" = "kinetic" ]]; then
     export CC='gcc-7'
 fi
 
-# use latest cmake
-# https://qiita.com/sunrise_lover/items/810977fede4b979c382b
-if [[ "$ROS_DISTRO" = "kinetic" ]]; then
-    cmake --version
-    wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-    sudo apt-get install -y software-properties-common
-    sudo apt-get install -y apt-transport-https
-    sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
-    sudo apt update
-    sudo apt install -y cmake
-    cmake --version
-fi
-if [[ "$ROS_DISTRO" = "melodic" ]]; then
-    cmake --version
-    wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-    sudo apt-get install -y software-properties-common
-    sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
-    sudo apt update
-    sudo apt install -y cmake
-    cmake --version
-fi
-
 # Build
 catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 catkin build --no-status

aerial_robot_melodic.rosinstall

@@ -56,14 +56,3 @@
      local-name: ros_controllers
      uri: https://github.com/sugikazu75/ros_controllers.git
      version: develop/abs_position_control
-
-# catkinized casadi
-- git:
-     local-name: casadi_catkin
-     uri: https://github.com/sugikazu75/casadi_catkin.git
-     version: master
-
-- git:
-     local-name: casadi_eigen
-     uri: https://github.com/sugikazu75/casadi_eigen.git
-     version: master

aerial_robot_model/CMakeLists.txt

@@ -7,7 +7,6 @@ add_compile_options(-std=c++17)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  casadi_eigen
   eigen_conversions
   geometry_msgs
   interactive_markers
@@ -33,10 +32,6 @@ find_package(orocos_kdl REQUIRED)
 find_package(urdfdom_headers REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-set(CMAKE_CXX_STANDARD 17)
-find_package(pinocchio REQUIRED)
-find_package(casadi REQUIRED)
-
 include_directories(${orocos_kdl_INCLUDE_DIRS} ${urdfdom_headers_INCLUDE_DIRS})
 
 if(NOT CMAKE_BUILD_TYPE)
@@ -57,8 +52,8 @@ generate_messages(
 
 catkin_package(
   INCLUDE_DIRS include test
-  LIBRARIES aerial_robot_model aerial_robot_model_ros numerical_jacobians pinocchio_robot_model pinocchio_robot_model_ros robot_model_pluginlib
-  CATKIN_DEPENDS casadi_eigen eigen_conversions geometry_msgs interactive_markers kalman_filter kdl_parser message_runtime pluginlib sensor_msgs spinal std_msgs tf tf_conversions tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf_conversions urdf visualization_msgs
+  LIBRARIES aerial_robot_model aerial_robot_model_ros numerical_jacobians robot_model_pluginlib
+  CATKIN_DEPENDS eigen_conversions geometry_msgs interactive_markers kalman_filter kdl_parser message_runtime pluginlib sensor_msgs spinal std_msgs tf tf_conversions tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf_conversions urdf visualization_msgs
   DEPENDS orocos_kdl urdfdom_headers
 )
 
@@ -97,13 +92,6 @@ add_library(robot_model_pluginlib
   src/model/plugin/underactuated_tilted_robot_model.cpp)
 target_link_libraries(robot_model_pluginlib ${catkin_LIBRARIES} aerial_robot_model)
 
-add_library(pinocchio_robot_model src/model/base_model/pinocchio_robot_model.cpp)
-target_link_libraries(pinocchio_robot_model ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${pinocchio_LIBRARIES} casadi)
-add_library(pinocchio_robot_model_ros src/model/base_model/pinocchio_robot_model_ros.cpp)
-target_link_libraries(pinocchio_robot_model_ros ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${pinocchio_LIBRARIES} pinocchio_robot_model)
-add_executable(pinocchio_test src/model/base_model/pinocchio_test.cpp)
-target_link_libraries(pinocchio_test ${catkin_LIBRARIES} ${Eigen3_LIBRARIES} ${pinocchio_LIBRARIES} pinocchio_robot_model_ros)
-
 add_library(servo_bridge src/servo_bridge/servo_bridge.cpp)
 target_link_libraries(servo_bridge ${catkin_LIBRARIES})
 add_executable(servo_bridge_node src/servo_bridge/servo_bridge_node.cpp)
@@ -123,11 +111,11 @@ target_link_libraries(numerical_jacobians aerial_robot_model ${catkin_LIBRARIES}
 install(DIRECTORY include/${PROJECT_NAME}/ test/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-install(TARGETS aerial_robot_model aerial_robot_model_ros pinocchio_robot_model pinocchio_robot_model_ros robot_model_pluginlib servo_bridge numerical_jacobians
+install(TARGETS aerial_robot_model aerial_robot_model_ros robot_model_pluginlib servo_bridge numerical_jacobians
   DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
-install(TARGETS rotor_tf_publisher interactive_marker_tf_broadcaster servo_bridge_node pinocchio_test
+install(TARGETS rotor_tf_publisher interactive_marker_tf_broadcaster servo_bridge_node
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

aerial_robot_model/package.xml

@@ -12,15 +12,12 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>eigen_conversions</build_depend>
-  <build_depend>casadi</build_depend>
-  <build_depend>casadi_eigen</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>interactive_markers</build_depend>
   <build_depend>kalman_filter</build_depend>
   <build_depend>kdl_parser</build_depend>
   <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>pinocchio</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>spinal</build_depend>
@@ -35,16 +32,13 @@
   <build_depend>urdf</build_depend>
   <build_depend>visualization_msgs</build_depend>
 
-  <run_depend>casadi</run_depend>
-  <run_depend>casadi_eigen</run_depend>
   <run_depend>eigen_conversions</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>interactive_markers</run_depend>
   <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>kalman_filter</run_depend>
   <run_depend>kdl_parser</run_depend>
   <run_depend>message_runtime</run_depend>
-  <run_depend>pinocchio</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>rviz</run_depend>