Merge pull request #1 from tpoignonec/(tpoignonec)refractor_after_rep…

…os_switch

refractor all after repos switch

.docker/README.md

@@ -2,24 +2,24 @@
 To use it, make sure you have [Docker](https://docs.docker.com/get-docker/) installed, then build and run the image :
 
 ```shell
-$ docker build --tag acados_controllers_ros2:humble --file .docker/run/Dockerfile .
+$ docker build --tag acados_solver_ros2:humble --file .docker/run/Dockerfile .
 ```
 
 ### Run with GUI
 To run the docker image with GUI, use the [rocker tool](https://github.com/osrf/rocker):
 ```shell
 $ sudo apt install python3-rocker
-$ rocker --net=host --x11 acados_controllers_ros2:humble ros2 run sandbox test_urdf2casadi
+$ rocker --net=host --x11 acados_solver_ros2:humble ros2 run sandbox test_urdf2casadi
 ```
 
 ### Run with bash
 To interact with the environment, run docker using:
 ```shell
-$ docker run -it acados_controllers_ros2:humble
+$ docker run -it acados_solver_ros2:humble
 ```
 and inside docker run:
 ```shell
-$ cd ros2_dev/acados_controllers_ros2/
+$ cd ros2_dev/acados_solver_ros2/
 $ source install/local_setup.bash
 $ ros2 run sandbox test_urdf2casadi
 ```

.docker/ci/Dockerfile

@@ -1,9 +1,9 @@
 ARG ROS_DISTRO="humble"
 FROM ros:${ROS_DISTRO}
 
-# COPY . /ros2_dev/src/acados_controllers_ros2
+# COPY . /ros2_dev/src/acados_solver_ros2
 RUN apt update && apt upgrade -y
 RUN apt install -y python3-pip git tree
 # RUN apt update && \
-#     cd ros2_dev/src/acados_controllers_ros2 && \
+#     cd ros2_dev/src/acados_solver_ros2 && \
 #     git submodule update --init --recursive \

.docker/run/Dockerfile

@@ -1,16 +1,16 @@
 ARG ROS_DISTRO="humble"
 FROM ros:${ROS_DISTRO}
 
-COPY . /ros2_dev/src/acados_controllers_ros2
+COPY . /ros2_dev/src/acados_solver_ros2
 RUN apt update && apt upgrade -y
 RUN apt install -y python3-pip
 RUN apt install -y git clang-format-14 cppcheck
 RUN pip install pre-commit
 RUN apt update && \
-    cd ros2_dev/src/acados_controllers_ros2 && \
+    cd ros2_dev/src/acados_solver_ros2 && \
     git submodule update --init --recursive
 RUN cd ros2_dev/src && \
-    vcs import . < acados_controllers_ros2/acados_controllers_ros2.repos
+    vcs import . < acados_solver_ros2/acados_solver_ros2.repos
 RUN cd ros2_dev/ && \
     . /opt/ros/${ROS_DISTRO}/setup.sh && \
     rosdep install --ignore-src --from-paths . -y -r

.docker/run/ros_entrypoint.sh

@@ -4,5 +4,5 @@ set -e
 # setup ros environment
 export ROS_LOCALHOST_ONLY=1
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "/ros2_dev/acados_controllers_ros2/install/setup.bash"
+source "/ros2_dev/acados_solver_ros2/install/setup.bash"
 exec "$@"

.github/workflows/ci-iron.yaml

@@ -18,5 +18,5 @@ jobs:
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: iron
-          vcs-repo-file-url: ./acados_controllers_ros2.repos
+          vcs-repo-file-url: ./acados_solver_ros2.repos
           import-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ci-rolling.yaml

@@ -18,5 +18,5 @@ jobs:
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: rolling
-          vcs-repo-file-url: ./acados_controllers_ros2.repos
+          vcs-repo-file-url: ./acados_solver_ros2.repos
           import-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ci.yml

@@ -18,28 +18,28 @@ jobs:
           mkdir -p ${{github.workspace}}/src
       - uses: actions/checkout@v4
         with:
-          path: src/acados_controllers_ros2
+          path: src/acados_solver_ros2
 
       - name: Build Docker Image
         uses: docker/build-push-action@v5
         with:
-          tags: acados_controllers_ros2:humble
+          tags: acados_solver_ros2:humble
           file: .docker/ci/Dockerfile
           push: false
 
       - name: Build
         uses: addnab/docker-run-action@v3
         with:
-          image: acados_controllers_ros2:humble
+          image: acados_solver_ros2:humble
           options: -v ${{github.workspace}}/:/ros/
           run: |
-            cd /ros # structure = <...>/ros/src/acados_controllers_ros2/<...>
+            cd /ros # structure = <...>/ros/src/acados_solver_ros2/<...>
             . /opt/ros/humble/setup.sh
-            cd src/acados_controllers_ros2
+            cd src/acados_solver_ros2
             git config --global --add safe.directory '*'
             git submodule update --init --recursive
             cd .. # = ros/src/
-            vcs import . < acados_controllers_ros2/acados_controllers_ros2.repos
+            vcs import . < acados_solver_ros2/acados_solver_ros2.repos
             cd .. # = ros/
             tree -L 4
             rosdep install --ignore-src --from-paths . -y -r
@@ -49,7 +49,7 @@ jobs:
       - name: Tests
         uses: addnab/docker-run-action@v3
         with:
-          image: acados_controllers_ros2:humble
+          image: acados_solver_ros2:humble
           options: -v ${{github.workspace}}/:/ros/
           run: |
             cd /ros

.github/workflows/documentation.yml

@@ -17,21 +17,21 @@ jobs:
         run: |
             sudo apt-get update -qq
             sudo apt-get install -y -qq python3-sphinx doxygen doxygen-gui doxygen-doc graphviz plantuml
-            cd ./acados_controllers_ros2/
+            cd ./acados_solver_ros2/
             pip install -r requirements.txt
       - name: Build documentation
         run: |
-            cd ./acados_controllers_ros2
+            cd ./acados_solver_ros2
             sphinx-build -b html sphinx sphinx/_build
             cd ../
       - name: Create commit
         run: |
-            git clone https://github.com/tpoignonec/acados_controllers_ros2.git --branch gh-pages --single-branch gh-pages
+            git clone https://github.com/tpoignonec/acados_solver_ros2.git --branch gh-pages --single-branch gh-pages
             cd gh-pages && rm -r * && cd ..
             mkdir -p gh-pages/docs/
             mkdir -p gh-pages/api/
-            cp -r ./acados_controllers_ros2/sphinx/_build/* gh-pages/
-            cp -r ./acados_controllers_ros2/doxygen/_build/html/* gh-pages/api/
+            cp -r ./acados_solver_ros2/sphinx/_build/* gh-pages/
+            cp -r ./acados_solver_ros2/doxygen/_build/html/* gh-pages/api/
             cd gh-pages
             touch .nojekyll
             git config --local user.email "action@github.com"

.gitignore

@@ -1,4 +1,4 @@
-acados_controllers_ros2/*/_build/*
+acados_solver_ros2/*/_build/*
 
 # Python
 **/__pycache__/**

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "acados_controllers_ros2/doxygen/extras/doxygen-awesome-css"]
-	path = acados_controllers_ros2/doxygen/extras/doxygen-awesome-css
+[submodule "acados_solver_ros2/doxygen/extras/doxygen-awesome-css"]
+	path = acados_solver_ros2/doxygen/extras/doxygen-awesome-css
 	url = https://github.com/jothepro/doxygen-awesome-css.git

CHANGELOG.md

@@ -1,12 +1,19 @@
 
 # Change Log
 
-## [Unreleased] - XXXX-XX-XX
+## [0.2.0] - XXXX-XX-XX
+
+Note: the URL has changed from `https://github.com/tpoignonec/acados_controllers_ros2` to  `https://github.com/tpoignonec/acados_solver_ros2`. See [PR #1](https://github.com/tpoignonec/acados_solver_ros2/pull/1)
 
 ### Added
 
+- [PR #32](https://github.com/tpoignonec/acados_controllers_ros2/pull/32) An example package for plugin export.
+- Some more documentation in the "getting started" section.
+
 ### Changed
 
+- [PR #32](https://github.com/tpoignonec/acados_controllers_ros2/pull/32) Package export namespace.
+
 ### Fixed
 
 ## [0.1.2] - 2023-11-15

README.md

@@ -1,7 +1,7 @@
-# acados_controllers_ros2
+# acados_solver_ros2
 
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
-[![CI](https://github.com/tpoignonec/acados_controllers_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/tpoignonec/acados_controllers_ros2/actions/workflows/ci.yml)
+[![CI](https://github.com/tpoignonec/acados_solver_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/tpoignonec/acados_solver_ros2/actions/workflows/ci.yml)
 [![Build tests (iron)](../../actions/workflows/ci-iron.yaml/badge.svg?branch=main)](../../actions/workflows/ci-iron.yaml?query=branch:main)
 [![Build tests (rolling)](../../actions/workflows/ci-rolling.yaml/badge.svg?branch=main)](../../actions/workflows/ci-rolling.yaml?query=branch:main)
 
@@ -16,7 +16,7 @@ To date, the stack includes:
   - `acados_solver_plugins_example`: a package to be used as a demo and as a template when starting a project using the acados solvers.
 
 
-**For more information, please check the [documentation](https://tpoignonec.github.io/acados_controllers_ros2/).**
+**For more information, please check the [documentation](https://tpoignonec.github.io/acados_solver_ros2/).**
 
 ## Contacts ##
 ![icube](https://icube.unistra.fr/fileadmin/templates/DUN/icube/images/logo.png)

acados_solver_plugins/cmake/regenerate_if_flag_modified.cmake

@@ -14,7 +14,7 @@
 #
 # Author: Thibault Poignonec (thibault.poignonec@gmail.com)
 
-# Part of the 'acados_controller_ros2' package
+# Part of the 'acados_solver_ros2' package
 
 function(regenerate_if_flag_modified)
     set( FLAG_FILE_REBUILD ${CMAKE_CURRENT_SOURCE_DIR}/src/plugins/.flag_regenerate_cmake )

acados_controllers_ros2/CMakeLists.txt → acados_solver_ros2/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(acados_controllers_ros2 NONE)
+project(acados_solver_ros2 NONE)
 find_package(ament_cmake REQUIRED)
 
 

acados_controllers_ros2/README.md → acados_solver_ros2/README.md

@@ -1,6 +1,6 @@
-### Acados Controllers for ROS2 control
+### Acados solver utils for ROS2 applications
 
-## Meta-package `acados_controllers_ros2`
+## Meta-package `acados_solver_ros2`
 
 This is a meta-package Acados ROS2 controllers stack.
 
@@ -14,7 +14,7 @@ sudo apt install python3-sphinx doxygen doxygen-gui doxygen-doc
 
 2) Install the necessary sphinx extensions
 ```bash
-cd acados_controllers_ros2/acados_controllers_ros2
+cd acados_solver_ros2/acados_solver_ros2
 pip install -r requirements.txt
 ```
 

acados_controllers_ros2/doxygen/Doxyfile → acados_solver_ros2/doxygen/Doxyfile

@@ -1,6 +1,6 @@
 # All settings not listed here will use the Doxygen default values.
 
-PROJECT_NAME           = "acados_controllers_ros2"
+PROJECT_NAME           = "acados_solver_ros2"
 PROJECT_NUMBER         = main
 PROJECT_BRIEF          = "Acados-based NMPC controllers for ROS2 control"
 

acados_controllers_ros2/package.xml → acados_solver_ros2/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>acados_controllers_ros2</name>
+  <name>acados_solver_ros2</name>
   <version>0.1.2</version>
-  <description>Meta-package aggregating the acados_controllers_ros2 packages and documentation</description>
+  <description>Meta-package aggregating the acados_solver_ros2 packages and documentation</description>
   <maintainer email="tpoignonec@unistra.fr">Thibault Poignonec</maintainer>
   <license>Apache License 2.0</license>
 

acados_controllers_ros2/sphinx/conf.py → acados_solver_ros2/sphinx/conf.py

@@ -33,7 +33,7 @@
 
 # -- Project information -----------------------------------------------------
 
-project = "acados_controllers_ros2"
+project = "acados_solver_ros2"
 copyright = "2023, ICUBE Laboratory, University of Strasbourg"
 author = "Thibault Poignonec"
 
@@ -60,7 +60,7 @@
     "breathe",
 ]
 
-breathe_default_project = "acados_controllers_ros2"
+breathe_default_project = "acados_solver_ros2"
 
 
 def get_package(package: str):
@@ -79,9 +79,9 @@ def get_package(package: str):
 highlight_language = "cpp"
 
 breathe_projects = {
-    "acados_controllers_ros2": "_build/xml/",
+    "acados_solver_ros2": "_build/xml/",
 }
-breathe_default_project = "acados_controllers_ros2"
+breathe_default_project = "acados_solver_ros2"
 breathe_default_members = ('members', 'undoc-members')
 
 

acados_controllers_ros2/sphinx/index.rst → acados_solver_ros2/sphinx/index.rst

@@ -11,7 +11,7 @@ To date, the stack includes:
     A minimalistic Python library provides simple generation of C++ solver plugins from Python Acados models;
   * ``acados_solver_plugins_example``: a package to be used as a demo and as a template when starting a project using the acados solvers.
 
-**Project GitHub repository:** `acados_controllers_ros2 <https://github.com/tpoignonec/acados_controllers_ros2>`_
+**Project GitHub repository:** `acados_solver_ros2 <https://github.com/tpoignonec/acados_solver_ros2>`_
 
 .. toctree::
   :maxdepth: 1

acados_controllers_ros2/sphinx/quickstart/installation.rst → acados_solver_ros2/sphinx/quickstart/installation.rst

@@ -22,8 +22,8 @@ See the `official documentation <https://docs.ros.org/en/humble/Installation.htm
     sudo apt install python3-colcon-common-extensions
     cd ~/ros2_ws
     cd src
-    git clone https://github.com/tpoignonec/acados_controllers_ros2.git
-    vcs import . < acados_controllers_ros2/acados_controllers_ros2.repos
+    git clone https://github.com/tpoignonec/acados_solver_ros2.git
+    vcs import . < acados_solver_ros2/acados_solver_ros2.repos
     rosdep install --ignore-src --from-paths . -y -r
 
 4. Build stack and source
@@ -46,7 +46,7 @@ First, export the Acados solver plugin:
     cd ~/ros2_ws
     source install/setup.bash
 
-    cd src/acados_controllers_ros2/acados_solver_plugins_example/script
+    cd src/acados_solver_ros2/acados_solver_plugins_example/script
     python3 -m demo_export_plugin_to_custom_pkg
 
     # Note: if used for the first time, Acados will ask you to install "Tera renderer"