Merge branch 'master' into devel

CHANGELOG.md

@@ -5,6 +5,20 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+### Changed
+* Enable publishing of robot joints in ROS 2 via `controlBoard_nws_ros2` for `iCubGazeboV2_5_visuomanip` (https://github.com/robotology/icub-models/pull/211).
+* CMake: Permit to explictly specify Python installation directory by setting the `ICUB_MODELS_PYTHON_INSTALL_DIR` CMake variable (https://github.com/robotology/icub-models/pull/218).
+
+### Fixed
+* Fixed wrong simulated finger hall effect sensors port names prefix for `iCubGazeboV2_5_visuomanip` (https://github.com/robotology/icub-models/pull/215).
+
+# [2.3.0] - 2023-09-11
+
+### Fixed
+
+* Fix location of `*_foot_*` links in iCub3 models (https://github.com/robotology/icub-models-generator/pull/243).
+* Fixed publication of xsens imu on iCubGazeboV2_7 (https://github.com/robotology/icub-models-generator/pull/246).
+
 # [2.2.2] - 2023-07-10
 
 ### Fixed

CMakeLists.txt

@@ -1,11 +1,11 @@
-# Copyright: (C) 2022 Fondazione Istituto Italiano di Tecnologia
+# Copyright: (C) Fondazione Istituto Italiano di Tecnologia
 # Authors: Silvio Traversaro
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.8...3.16)
 
 project(icub-models
-  VERSION 2.2.2)
+  VERSION 2.3.0)
 
 include(GNUInstallDirs)
 

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_finger.ini

@@ -12,7 +12,7 @@ max_damping   100.0  100.0  100.0  100.0
 trajectory_type minimum_jerk
 
 [COUPLING]
-fingers_abduction_control (0 1 2 3) (l_hand_fingers reserved reserved reserved reserved) (0.0) (60.0)
+fingers_abduction_control (0 1 2 3) (l_hand_finger reserved reserved reserved reserved) (0.0) (60.0)
 
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_left_hand_mais.ini

@@ -1,7 +1,5 @@
-[include "./gazebo_icub_robotname.ini"]
-
 [WRAPPER]
-name /${gazeboYarpPluginsRobotName}/left_hand/analog:o
+name /icubSim/left_hand/analog:o
 period 10
 networks (left_mais)
 device analogServer

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_finger.ini

@@ -12,7 +12,7 @@ max_damping   100.0  100.0  100.0  100.0
 trajectory_type minimum_jerk
 
 [COUPLING]
-fingers_abduction_control (0 1 2 3) (r_hand_fingers reserved reserved reserved reserved) (0.0) (60.0)
+fingers_abduction_control (0 1 2 3) (r_hand_finger reserved reserved reserved reserved) (0.0) (60.0)
 
 #PIDs:
 # this information is used to set the PID values in simulation for GAZEBO, we need only the first three values

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/gazebo_icub_right_hand_mais.ini

@@ -1,7 +1,5 @@
-[include "./gazebo_icub_robotname.ini"]
-
 [WRAPPER]
-name /${gazeboYarpPluginsRobotName}/right_hand/analog:o
+name /icubSim/right_hand/analog:o
 period 10
 networks (right_mais)
 device analogServer

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/icub_ros2.xml

@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<robot name="iCubGazeboV3" build="1" portprefix="/icubSim" xmlns:xi="http://www.w3.org/2001/XInclude">
+    <devices>
+
+    <!-- MOTOR CONTROLLERS -->
+
+        <!-- wrapper are all inherited from automatically generated models -->
+        <xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_wrapper.xml" />
+        <xi:include href="../../../iCub/conf/wrappers/motorControl/head-mc_wrapper.xml" />
+        <xi:include href="../../../iCub/conf/wrappers/motorControl/left_arm-mc_wrapper.xml" />
+        <xi:include href="../../../iCub/conf/wrappers/motorControl/right_arm-mc_wrapper.xml" />
+
+        <!-- only the torso remapper is inherited from automatically generated models -->
+        <xi:include href="../../../iCub/conf/wrappers/motorControl/torso-mc_remapper.xml" />
+
+        <!-- all the other remappers are specific to this model due to eyes and fingers -->
+        <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+        <xi:include href="wrappers/motorControl/left_arm-mc_remapper.xml" />
+        <xi:include href="wrappers/motorControl/right_arm-mc_remapper.xml" />
+    <!-- -->
+
+    <!-- HEAD SENSORS -->
+
+        <xi:include href="wrappers/camera/left_camera-rgbd_wrapper.xml" />
+        <xi:include href="wrappers/camera/right_camera-rgb_wrapper.xml" />
+
+    <!-- -->
+
+    <!-- INERTIAL SENSORS -->
+
+        <!-- this wrapper is inherited from automatically generated models -->
+        <xi:include href="../../../iCub/conf/wrappers/inertials/head-inertials_wrapper.xml" />
+
+    <!-- -->
+
+    <!-- ROS 2 entries -->
+    <xi:include href="wrappers/motorControl/alljoints-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/alljoints-mc_nws_ros2.xml" />
+
+    </devices>
+</robot>

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_nws_ros2.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_nws_ros2" type="controlBoard_nws_ros2">
+    <param name="node_name"> icub_cb_node </param>
+    <param name="topic_name"> /joint_states </param>
+    <action phase="startup" level="10" type="attach">
+        <param name="device"> alljoints-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>

iCub_manual/conf_manual/iCubGazeboV2_5_visuomanip/wrappers/motorControl/alljoints-mc_remapper.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="alljoints-mc_remapper" type="controlboardremapper">
+    <param name="axesNames">(neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw torso_yaw torso_roll torso_pitch)</param>
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+            <elem name="head_joints">       head_hardware_device </elem>
+            <elem name="left_arm_joints">   left_arm_hardware_device</elem>
+            <elem name="right_arm_joints">  right_arm_hardware_device </elem>
+            <elem name="torso_joints">      torso_hardware_device </elem>
+        </paramlist>
+    </action>
+    <action phase="shutdown" level="20" type="detach"/>
+</device>

iCub_manual/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>iCub</name>
-  <version>2.2.2</version>
+  <version>2.3.0</version>
   <description>
     This is not an actual package, but rather a placeholder to 
     make sure that the share/iCub directory is found as the 

python/CMakeLists.txt

@@ -11,15 +11,23 @@ if(ICUB_MODELS_USES_PYTHON)
     FALSE)
 
     # Install the resulting Python package for the active interpreter
-    if(ICUB_MODELS_DETECT_ACTIVE_PYTHON_SITEPACKAGES)
-        set(PYTHON_INSTDIR ${Python3_SITELIB}/icub_models)
-    else()
-      execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
-        OUTPUT_VARIABLE _PYTHON_INSTDIR)
-
-      string(STRIP ${_PYTHON_INSTDIR} _PYTHON_INSTDIR_CLEAN)
-      set(PYTHON_INSTDIR ${_PYTHON_INSTDIR_CLEAN}/icub_models)
+    if(NOT DEFINED ICUB_MODELS_PYTHON_INSTALL_DIR)
+      if(ICUB_MODELS_DETECT_ACTIVE_PYTHON_SITEPACKAGES)
+        set(ICUB_MODELS_PYTHON_INSTALL_DIR ${Python3_SITELIB})
+      else()
+        if(Python3_VERSION VERSION_GREATER_EQUAL 3.12)
+          execute_process(COMMAND ${Python3_EXECUTABLE} -c "import os;import sysconfig;relative_site_packages = sysconfig.get_path('purelib').replace(sysconfig.get_path('data'), '').lstrip(os.path.sep);print(relative_site_packages)"
+            OUTPUT_VARIABLE _PYTHON_INSTDIR)
+        else()
+          execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
+            OUTPUT_VARIABLE _PYTHON_INSTDIR)
+        endif()
+        string(STRIP ${_PYTHON_INSTDIR} _PYTHON_INSTDIR_CLEAN)
+        set(ICUB_MODELS_PYTHON_INSTALL_DIR ${_PYTHON_INSTDIR_CLEAN})
+      endif()
     endif()
+    set(PYTHON_INSTDIR ${ICUB_MODELS_PYTHON_INSTALL_DIR}/icub_models)
+
 
 
     # Install the __init__.py file