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Miscellaneous additions from mc_rtc 2.0 #157

Merged
merged 13 commits into from
Jun 28, 2021
Merged

Miscellaneous additions from mc_rtc 2.0 #157

merged 13 commits into from
Jun 28, 2021

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gergondet
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  • [logging] Add a warning (and avoid a memleak) if data cannot be logged, this is very unlikely to happen in real scenario but has been encountered when running through valgrind or in unit tests
  • [utils] Misc fixes and changes for build_and_install.sh
    • Default to ninja for building
    • Correct branch fetching
    • Improve detection of catkin workspaces
  • Use exception-free API to convert YAML to JSON
  • [mc_rtc] Add MC_RTC_VERSION_MAJOR macro
  • [mc_rbdyn] Correctly save/load materials from YAML/JSON
  • [GUI] Add the Visual element to publish arbitrary shapes
  • [logging] Add support for Eigen::Ref

gergondet added 13 commits June 28, 2021 09:48
@gergondet
[Logger] Add a warning if the logging queue is outrun
2f09e2c 
Also fix a memory leak in that case. This was noticed by running a
"greedy" ticker in valgrind but I don't think it happens in practice as
the queue is relatively large and the consumer thread runs frequently.

It can also happen when running tests on a real-time kernel as the
ticker can be very fast in those cases and the consumer thread runs
infrequently in comparison (every 500us at best). Reported by @chappk
@gergondet
[utils] Correctly fetch branches
77436cf
@gergondet
[cmake] Add the MC_RTC_DEVELOPER_MODE option
e6796db 
This option disable precise version computing so that rebuilding the
project is faster which is particularly useful when making frequent changes.

This is intended for mc_rtc developers as the information is useful to
debug ABI issues.
@gergondet
[clang-format] Switch to clang-format-10
643fd8f
@gergondet
[mc_rtc] Use exception-free API for YAML->JSON conversion
f0698bc
@gergondet
[ci] Force python2 to install pip2 on 20.04
cf663be
@gergondet
[mc_rtc] Add missing include
b053050
@gergondet
[utils] Build with ninja if available
0e7c193
@gergondet
[utils] Better detect existence of catkin workspaces
bf61921
@gergondet
[mc_rtc] Add the MC_RTC_VERSION_MAJOR macro
d2f9426
@gergondet
[mc_rbdyn] Include material in save/loaded Visual
bddaf26
@gergondet
[GUI] Add the Visual element
26194c8 
Allow to add arbitrary visuals to the 3D scene
@gergondet
[log] Support logging Eigen::Ref
daea4e1 
- Require the type to have a compile-time vector-like shape
- Log as Vector2|3|6d if size is known at compile time
@gergondet gergondet merged commit 79d19c2 into jrl-umi3218:master Jun 28, 2021
@gergondet gergondet mentioned this pull request Jun 30, 2021
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@gergondet gergondet mentioned this pull request Aug 9, 2021
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