From 863634602c8285fb5cbc6290a9a34edbdd92f587 Mon Sep 17 00:00:00 2001 From: Maxx Wilson Date: Thu, 23 May 2024 23:46:00 -0500 Subject: [PATCH] adds ghost_viz package adds trajectory_plotter vs pj adds pj submodules --- .gitmodules | 6 ++ 03_ROS/ghost_viz/CMakeLists.txt | 27 ++++++++ .../ghost_viz/config/plotjuggler_config.xml | 64 +++++++++++++++++++ .../launch/trajectory_plotter.launch.py | 23 +++++++ 03_ROS/ghost_viz/package.xml | 21 ++++++ 09_External/plotjuggler | 1 + 09_External/plotjuggler-ros-plugins | 1 + .../src/casadi_swerve_model_generation.cpp | 10 ++- scripts/update_dependencies.sh | 2 +- 9 files changed, 153 insertions(+), 2 deletions(-) create mode 100644 03_ROS/ghost_viz/CMakeLists.txt create mode 100644 03_ROS/ghost_viz/config/plotjuggler_config.xml create mode 100644 03_ROS/ghost_viz/launch/trajectory_plotter.launch.py create mode 100644 03_ROS/ghost_viz/package.xml create mode 160000 09_External/plotjuggler create mode 160000 09_External/plotjuggler-ros-plugins diff --git a/.gitmodules b/.gitmodules index 2106ef51..ab105d2a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -30,3 +30,9 @@ [submodule "09_External/BehaviorTree.ROS2"] path = 09_External/BehaviorTree.ROS2 url = https://github.com/JakeWendling/BehaviorTree.ROS2 +[submodule "09_External/plotjuggler"] + path = 09_External/plotjuggler + url = https://github.com/VEXU-GHOST/PlotJuggler.git +[submodule "09_External/plotjuggler-ros-plugins"] + path = 09_External/plotjuggler-ros-plugins + url = https://github.com/VEXU-GHOST/plotjuggler-ros-plugins.git diff --git a/03_ROS/ghost_viz/CMakeLists.txt b/03_ROS/ghost_viz/CMakeLists.txt new file mode 100644 index 00000000..a6a4a8dc --- /dev/null +++ b/03_ROS/ghost_viz/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.8) +project(ghost_viz) + +# Add Global CMake Config for Ghost Packages +set(Ghost_DIR "$ENV{VEXU_HOME}/cmake") +find_package(Ghost CONFIG REQUIRED) + +# Adds all our package dependencies to one list +set(DEPENDENCIES + ament_cmake + ) + +# Iterates through the list and finds the packages! +foreach(pkg ${DEPENDENCIES}) + find_package(${pkg} REQUIRED) +endforeach() + +# Tell any packages that depend on us what dependencies we need. +ament_export_dependencies(${DEPENDENCIES}) + +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME}) + +# This generates the ROS2 package and should always be the last line. +ament_package() diff --git a/03_ROS/ghost_viz/config/plotjuggler_config.xml b/03_ROS/ghost_viz/config/plotjuggler_config.xml new file mode 100644 index 00000000..ce3cf6b1 --- /dev/null +++ b/03_ROS/ghost_viz/config/plotjuggler_config.xml @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +