Updating lint files, readme, and API

Signed-off-by: Aaron Chong <[email protected]>

drake_ros_core/README.md

@@ -16,7 +16,7 @@ To build it:
 1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
 1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
 1. Activate the drake virtual environment.
-1. Build it using Colcon, or using CMake directly.
+1. Build it using Colcon.
 
     **Colcon**
     1. Make a workspace `mkdir -p ./ws/src`

drake_ros_examples/.clang-format

@@ -0,0 +1,45 @@
+# -*- yaml -*-
+
+# Taken from RobotLocomotion/drake @ 73925c7eb71361e2e97601af4182ba54072d192a
+# This file determines clang-format's style settings; for details, refer to
+# http://clang.llvm.org/docs/ClangFormatStyleOptions.html
+
+BasedOnStyle:  Google
+
+Language: Cpp
+
+# Force pointers to the type for C++.
+DerivePointerAlignment: false
+PointerAlignment: Left
+
+# Specify the #include statement order.  This implements the order mandated by
+# the Google C++ Style Guide: related header, C headers, C++ headers, library
+# headers, and finally the project headers.
+#
+# To obtain updated lists of system headers used in the below expressions, see:
+# http://stackoverflow.com/questions/2027991/list-of-standard-header-files-in-c-and-c/2029106#2029106.
+IncludeCategories:
+  # Spacers used by drake/tools/formatter.py.
+  - Regex:    '^<clang-format-priority-15>$'
+    Priority: 15
+  - Regex:    '^<clang-format-priority-25>$'
+    Priority: 25
+  - Regex:    '^<clang-format-priority-35>$'
+    Priority: 35
+  - Regex:    '^<clang-format-priority-45>$'
+    Priority: 45
+  # C system headers.
+  - Regex:    '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
+    Priority: 20
+  # C++ system headers (as of C++17).
+  - Regex:    '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
+    Priority: 30
+  # Other libraries' h files (with angles).
+  - Regex:    '^<'
+    Priority: 40
+  # Your project's h files.
+  - Regex:    '^"drake_ros_examples'
+    Priority: 50
+  # Other libraries' h files (with quotes).
+  - Regex:    '^"'
+    Priority: 40

drake_ros_examples/CMakeLists.txt

@@ -18,8 +18,11 @@ find_package(drake_ros_viz REQUIRED)
 add_subdirectory(examples)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_clang_format REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+
+  ament_clang_format(CONFIG_FILE .clang-format)
+  ament_cpplint()
 endif()
 
 ament_package()

drake_ros_examples/CPPLINT.cfg

@@ -0,0 +1,64 @@
+# Taken from RobotLocomotion/drake @ 73925c7eb71361e2e97601af4182ba54072d192a
+#
+# Copyright 2016 Robot Locomotion Group @ CSAIL. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification,
+# are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+#    this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+# 3. Neither the name of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software without
+#    specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+# SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+# OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+# Stop searching for additional config files.
+set noparent
+
+# Disable a warning about C++ features that were not in the original
+# C++11 specification (and so might not be well-supported).  In the
+# case of Drake, our supported minimum platforms are new enough that
+# this warning is irrelevant.
+filter=-build/c++11
+
+# Drake uses `#pragma once`, not the `#ifndef FOO_H` guard.
+# https://drake.mit.edu/styleguide/cppguide.html#The__pragma_once_Guard
+filter=-build/header_guard
+filter=+build/pragma_once
+
+# Disable cpplint's include order.  We have our own via //tools:drakelint.
+filter=-build/include_order
+
+# TODO(hidmic): uncomment when ament_cpplint updates its vendored cpplint
+# version to support the following filters. Also remove corresponding NOLINT
+# codetags in sources.
+## Allow private, sibling include files.
+#filter=-build/include_subdir
+
+# We do not care about the whitespace details of a TODO comment.  It is not
+# relevant for easy grepping, and the GSG does not specify any particular
+# whitespace style.  (We *do* care what the "TODO(username)" itself looks like
+# because GSG forces a particular style there, but that formatting is covered
+# by the readability/todo rule, which we leave enabled.)
+filter=-whitespace/todo
+
+# TODO(#1805) Fix this.
+filter=-legal/copyright
+
+# Ignore code that isn't ours.
+exclude_files=third_party
+
+# It's not worth lint-gardening the documentation.
+exclude_files=doc

drake_ros_examples/README.md

@@ -1,38 +1,28 @@
 # Drake ROS Examples
 
-This is a collection of examples built around `drake_ros_systems` C++ and Python APIs.
+This is a collection of examples built around `drake_ros` libraries' C++ and Python APIs.
 
 ## Building
 
-This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly from April 2021.
+This package has been built and tested on Ubuntu Focal with ROS Rolling, using a Drake nightly or any stable releases after 14 Jan 2022.
 It may work on other versions of ROS and Drake, but it hasn't been tested.
 
 To build it:
 
 1. [Install ROS Rolling](https://index.ros.org/doc/ros2/Installation/Rolling/)
 1. Source your ROS installation `. /opt/ros/rolling/setup.bash`
-1. [Download April-ish 2021 Drake binary](https://drake.mit.edu/from_binary.html)
-1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/python_bindings.html#inside-virtualenv).
-1. Activate the drake virtual environment
-1. Build it using Colcon, or using CMake directly
+1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
+1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
+1. Activate the drake virtual environment.
+1. Build it using Colcon.
 
     **Colcon**
     1. Make a workspace `mkdir -p ./ws/src`
     1. `cd ./ws/src`
     1. Get this code `git clone https://github.com/RobotLocomotion/drake-ros.git`
     1. `cd ..`
-    1. Build this package and its dependencies `colcon build --packages-up-to drake_ros_systems`
+    1. Build this package `colcon build --packages-up-to drake_ros_examples`
 
-    **CMake**
-    1. Get this code `git clone https://github.com/RobotLocomotion/drake-ros.git`
-    1. Build the [`drake_ros_systems`](../drake_ros_systems/README.md#building) package using CMake first.
-    1. Manually set `CMAKE_PREFIX_PATH`: `export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$(pwd)/drake-ros/drake_ros_systems/install`
-    1. `cd drake-ros/drake_ros_examples`
-    1. Make a build and install folder to avoid installing to the whole system `mkdir build install`
-    1. `cd build`
-    1. Configure the project `cmake -DCMAKE_INSTALL_PREFIX=$(pwd)/../install ..`
-    1. Build the project `make && make install`
-
 ## Running
 
 * If you built with `colcon`, then source your workspace.
@@ -44,21 +34,6 @@ To build it:
 
   Now you can run C++ and Python examples using `ros2 run drake_ros_examples <example-executable-or-script>`.
 
-
-* If you built with plain CMake, then source the ROS workspace and set these variables.
-
-```
-. /opt/ros/rolling/setup.bash
-# Also make sure to activate drake virtual environment
-# CD to repository root
-export LD_LIBRARY_PATH=$(pwd)/drake_ros_systems/install/lib:$LD_LIBRARY_PATH
-export LD_LIBRARY_PATH=$(pwd)/drake_ros_examples/install/lib:$LD_LIBRARY_PATH
-export PYTHONPATH=$(pwd)/drake_ros_systems/install/lib/$(python -c 'import sys; print(f"python{sys.version_info[0]}.{sys.version_info[1]}")')/site-packages:$PYTHONPATH
-export PYTHONPATH=$(pwd)/drake_ros_examples/install/lib/$(python -c 'import sys; print(f"python{sys.version_info[0]}.{sys.version_info[1]}")')/site-packages:$PYTHONPATH
-```
-
-  Now you can run C++ and Python examples from the install folder using `./drake-ros/drake_ros_examples/install/lib/drake_ros_examples/<example-executable-or-script>`.
-
 ## List of examples
 
 - [RS flip flop](./examples/rs_flip_flop): a latch with a ROS 2 topic interface.

drake_ros_examples/examples/iiwa_manipulator/README.md

@@ -17,5 +17,3 @@ Run RViz in a different terminal with your ROS installation sourced to visualize
 ```
 ros2 run rviz2 rviz2 -d iiwa_manipulator.rviz
 ```
-
-

drake_ros_examples/examples/iiwa_manipulator/iiwa_manipulator.cpp

@@ -1,4 +1,4 @@
-// Copyright 2021https://www.youtube.com/watch?v=SUQnduNzsw8 Open Source Robotics Foundation, Inc.
+// Copyright 2021 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -22,9 +22,9 @@
 
 #include <drake/examples/manipulation_station/manipulation_station.h>
 
-#include <drake_ros_core/drake_ros.hpp>
-#include <drake_ros_core/ros_interface_system.hpp>
-#include <drake_ros_viz/rviz_visualizer.hpp>
+#include <drake_ros_core/drake_ros.h>
+#include <drake_ros_core/ros_interface_system.h>
+#include <drake_ros_viz/rviz_visualizer.h>
 
 #include <cmath>
 #include <memory>
@@ -45,8 +45,9 @@ int main()
 {
   drake::systems::DiagramBuilder<double> builder;
 
-  auto ros_interface_system =
-    builder.AddSystem<RosInterfaceSystem>(std::make_unique<DrakeRos>());
+  drake_ros_core::init();
+  auto ros_interface_system = builder.AddSystem<RosInterfaceSystem>(
+    std::make_unique<DrakeRos>("iiwa_manipulator_node"));
 
   auto manipulation_station = builder.AddSystem<ManipulationStation>();
   manipulation_station->SetupClutterClearingStation();

drake_ros_examples/examples/iiwa_manipulator/iiwa_manipulator.py

@@ -15,8 +15,9 @@
 
 import numpy as np
 
-from drake_ros_systems import RosInterfaceSystem
-from drake_ros_systems import RvizVisualizer
+import drake_ros_core
+from drake_ros_core import RosInterfaceSystem
+from drake_ros_viz import RvizVisualizer
 
 from pydrake.examples.manipulation_station import ManipulationStation
 from pydrake.systems.analysis import Simulator
@@ -25,15 +26,16 @@
 from pydrake.systems.primitives import ConstantVectorSource
 from pydrake.systems.primitives import Sine
 
-
 def main():
     builder = DiagramBuilder()
 
-    ros_interface_system = builder.AddSystem(RosInterfaceSystem())
+    drake_ros_core.init()
+    ros_interface_system = builder.AddSystem(RosInterfaceSystem("iiwa_manipulator_node"))
 
     manipulation_station = builder.AddSystem(ManipulationStation())
     manipulation_station.SetupClutterClearingStation()
     manipulation_station.Finalize()
+    pdb.set_trace()
 
     # Make the base joint swing sinusoidally.
     constant_term = builder.AddSystem(ConstantVectorSource(

drake_ros_examples/examples/rs_flip_flop/rs_flip_flop.cpp

@@ -15,10 +15,10 @@
 #include <drake/systems/framework/diagram_builder.h>
 #include <drake/systems/framework/leaf_system.h>
 
-#include <drake_ros_core/drake_ros.hpp>
-#include <drake_ros_core/ros_interface_system.hpp>
-#include <drake_ros_core/ros_publisher_system.hpp>
-#include <drake_ros_core/ros_subscriber_system.hpp>
+#include <drake_ros_core/drake_ros.h>
+#include <drake_ros_core/ros_interface_system.h>
+#include <drake_ros_core/ros_publisher_system.h>
+#include <drake_ros_core/ros_subscriber_system.h>
 
 #include <std_msgs/msg/bool.hpp>
 
@@ -109,7 +109,9 @@ int main()
 
   rclcpp::QoS qos{10};
 
-  auto sys_ros_interface = builder.AddSystem<RosInterfaceSystem>(std::make_unique<DrakeRos>());
+  drake_ros_core::init();
+  auto sys_ros_interface = builder.AddSystem<RosInterfaceSystem>(
+      std::make_unique<DrakeRos>("rs_flip_flop_node"));
   auto sys_pub_Q = builder.AddSystem(
     RosPublisherSystem::Make<std_msgs::msg::Bool>(
       "Q", qos, sys_ros_interface->get_ros_interface()));

drake_ros_examples/examples/rs_flip_flop/rs_flip_flop.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import drake_ros_core
 from drake_ros_core import RosInterfaceSystem
 from drake_ros_core import RosPublisherSystem
 from drake_ros_core import RosSubscriberSystem
@@ -83,7 +84,8 @@ def main():
     # S: true  R: true  | Q: invalid    Q_not: invalid
     builder = DiagramBuilder()
 
-    sys_ros_interface = builder.AddSystem(RosInterfaceSystem())
+    drake_ros_core.init()
+    sys_ros_interface = builder.AddSystem(RosInterfaceSystem("rs_flip_flop_node"))
 
     qos = QoSProfile(depth=10)
 

drake_ros_examples/pycodestyle.ini

@@ -0,0 +1,4 @@
+[pycodestyle]
+# This is close to the ignore's that Drake uses, as of
+# https://github.com/RobotLocomotion/drake/blob/v0.35.0/tools/lint/python_lint.bzl#L7
+ignore = 'E121,E123,E126,E226,E24,E704,W503'

drake_ros_tf2/README.md

@@ -14,7 +14,7 @@ To build it:
 1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
 1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
 1. Activate the Drake virtual environment.
-1. Build it using Colcon, or using CMake directly.
+1. Build it using Colcon.
 
     **Colcon**
     1. Make a workspace `mkdir -p ./ws/src`

drake_ros_viz/README.md

@@ -14,7 +14,7 @@ To build it:
 1. [Download Drake binary](https://drake.mit.edu/from_binary.html), nightly or any stable releases after 14 Jan 2022.
 1. Extract the Drake binary installation, install it's prerequisites, and [use this Python virutalenv trick](https://drake.mit.edu/from_binary.html).
 1. Activate the drake virtual environment.
-1. Build it using Colcon, or using CMake directly.
+1. Build it using Colcon.
 
     **Colcon**
     1. Make a workspace `mkdir -p ./ws/src`