Merge pull request #8 from SINTEFMedtek/0.0.7

0.0.7

.github/workflows/build_ubuntu.yml

@@ -0,0 +1,75 @@
+name: Build Ubuntu
+
+on:
+  push:
+    branches:
+      - master
+      - develop
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        os: [ ubuntu-22.04, ubuntu-20.04 ]
+        python-version: [ '3.8', '3.9', '3.10', '3.11' ]
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y \
+            build-essential \
+            cmake \
+            libeigen3-dev \
+            python3 \
+            libpython3-dev \
+            python3-pip \
+            python3-setuptools
+          pip install --upgrade pip
+          pip install patchelf
+          pip install wheel
+          pip install auditwheel
+
+      - name: Configure CMake
+        run: |
+          cmake -B build \
+            -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
+            -DROMOCC_BUILD_TESTS=ON \
+            -DROMOCC_BUILD_EXAMPLES=ON \
+            -DROMOCC_BUILD_PYTHON_BINDINGS=ON \
+
+      - name: Build libromocc
+        run: cmake --build build --config ${{env.BUILD_TYPE}} -j 4
+
+      - name: Build pyromocc python wheel
+        run: cmake --build build --config ${{env.BUILD_TYPE}} --target create_python_wheel
+
+      - name: Determine platform
+        id: determine_platform
+        run: |
+          echo platform=$(python3 -c "import distutils.util; print(distutils.util.get_platform().replace('-', '_').replace('.', '_'))") >> $GITHUB_OUTPUT
+
+      - name: Auditwheel repair
+        run: |
+          auditwheel repair ${{github.workspace}}/build/pyromocc/dist/pyromocc-*.whl --plat ${{ steps.determine_platform.outputs.platform }} -w ${{github.workspace}}/build/pyromocc/dist/wheelhouse
+
+      - name: Upload Python wheel
+        uses: actions/upload-artifact@v4
+        with:
+          name: Python wheel
+          path: ${{github.workspace}}/build/pyromocc/dist/wheelhouse/pyromocc-*.whl
+          if-no-files-found: error

.github/workflows/build_windows.yml

@@ -0,0 +1,54 @@
+name: Build Windows
+
+on:
+  push:
+    branches:
+      - master
+      - develop
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    runs-on: windows-2019
+
+    strategy:
+      matrix:
+        python-version: [ '3.8', '3.9', '3.10', '3.11' ]
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: |
+          pip install --upgrade pip
+          pip install wheel
+
+      - name: Configure CMake
+        run: |
+          cmake ${{github.workspace}} -B ${{github.workspace}}/build `
+            -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+            -DROMOCC_BUILD_TESTS=OFF `
+            -DROMOCC_BUILD_EXAMPLES=OFF `
+            -DROMOCC_BUILD_PYTHON_BINDINGS=ON `
+
+      - name: Build libromocc
+        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} -j 4
+
+      - name: Build pyromocc python wheel
+        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target create_python_wheel
+
+      - name: Upload Python wheel
+        uses: actions/upload-artifact@v4
+        with:
+          name: Python wheel
+          path: ${{github.workspace}}/build/pyromocc/dist/pyromocc-*.whl
+          if-no-files-found: error

CMakeLists.txt

@@ -5,7 +5,7 @@ project(romocc)
 # Current version
 set (VERSION_MAJOR 0)
 set (VERSION_MINOR 0)
-set (VERSION_PATCH 3)
+set (VERSION_PATCH 7)
 set(VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH})
 
 include(cmake/Macros.cmake)

README.md

@@ -1,12 +1,47 @@
 libromocc
 =========
 
-[![Build badge](https://github.com/SINTEFMedtek/libromocc/workflows/cmake_build.yml/badge.svg?branch=master&event=push)](https://github.com/SINTEFMedtek/libromocc/actions)
+[![Build Ubuntu](https://github.com/SINTEFMedtek/libromocc/actions/workflows/build_ubuntu.yml/badge.svg)](https://github.com/SINTEFMedtek/libromocc/actions/workflows/build_ubuntu.yml)
+[![Build Windows](https://github.com/SINTEFMedtek/libromocc/actions/workflows/build_windows.yml/badge.svg)](https://github.com/SINTEFMedtek/libromocc/actions/workflows/build_windows.yml)
 
 libromocc is a lightweight C++ library for **ro**bot **mo**delling, **c**ontrol and **c**ommunication. It
 also contains Python wrappers with a corresponding PyPI distribution.
 
-### Setup and build
+### Core features ###
+* **Lightweight inferface**: Simple control of robots from Universal Robots. 
+* **Robot modelling**: Forward and inverse kinematics, Jacobians, etc. 
+* **Support for old client interfaces**: Supports the real-time interfaces of Universal Robots, but not the new RTDE interface.
+* **Python wrappers**: Python wrappers for core functionality. 
+
+### Getting started with Python ###
+[![pypi](https://badgen.net/pypi/v/pyromocc)](https://pypi.org/project/pyromocc/)
+
+Pre-built packages are available for Linux and Windows on PyPI. Supports Ubuntu 20.04, 22.04 and Windows 10+(64-bit). 
+To install the current release:
+
+```bash
+pip install pyromocc
+```
+
+Once installed, the following shows a simple sample of use:
+```python
+from pyromocc import Robot
+
+# Connect to robot
+robot = Robot(ip="192.168.153.131", port=30003, manipulator="UR5")
+robot.connect()
+
+# Print current operational configuration
+print(robot.operational_config)
+
+# Move 50 mm upwards
+robot.z += 50
+
+# Print current operational configuration
+print(robot.operational_config)
+```
+
+### Setup and build ###
 
 ```bash
 git clone https://github.com/SINTEFMedtek/libromocc.git
@@ -17,7 +52,7 @@ cmake ..
 make -j8
 ```
 
-### Usage
+### Usage ###
 
 If you use libromocc in your research and would like to cite the library, we suggest you cite the following conference paper:
 
@@ -37,6 +72,6 @@ use under a BSD-2 license. See included licence for more information.
 The code base is currently undergoing large changes, thus there is no guarantee that internal interfaces will be stable.
 
 
-### Contributors
+### Contributors ###
 
 libromocc is developed at [SINTEF Digital](http://www.sintef.no), and the work has been partially funded by the Research Council of Norway under grant number 270941.

cmake/ExternalCxxOpts.cmake

@@ -0,0 +1,19 @@
+# Download and set up Eigen
+
+include(cmake/Externals.cmake)
+
+ExternalProject_Add(cxxopts
+        PREFIX ${ROMOCC_EXTERNAL_BUILD_DIR}/cxxopts
+        BINARY_DIR ${ROMOCC_EXTERNAL_BUILD_DIR}/cxxopts/build
+        URL "https://github.com/jarro2783/cxxopts/archive/refs/tags/v3.1.1.tar.gz"
+        INSTALL_DIR ${ROMOCC_EXTERNAL_INSTALL_DIR}
+        CMAKE_CACHE_ARGS
+        -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_VERBOSE_MAKEFILE:BOOL=OFF
+        -DCMAKE_INSTALL_MESSAGE:BOOL=LAZY
+        -DCMAKE_INSTALL_PREFIX:STRING=${ROMOCC_EXTERNAL_INSTALL_DIR}
+        -DBUILD_TESTING:BOOL=OFF
+        )
+
+list(APPEND ROMOCC_INCLUDE_DIRS ${ROMOCC_EXTERNAL_INSTALL_DIR}/include/cxxopts/)
+list(APPEND ROMOCC_EXTERNAL_DEPENDENCIES cxxopts)

cmake/ExternalPybind.cmake

@@ -10,7 +10,7 @@ ExternalProject_Add(
         pybind11
         PREFIX .
         GIT_REPOSITORY "https://github.com/pybind/pybind11.git"
-        GIT_TAG "v2.6.2" # v2.6.2
+        GIT_TAG "v2.11.1" # v2.11.1
         SOURCE_DIR "${CMAKE_BINARY_DIR}/third-party/pybind11"
         # Override default steps with no action, we just want the clone step.
         CONFIGURE_COMMAND ""

cmake/ExternalZeroMQ.cmake

@@ -1,25 +1,36 @@
 # Download and set up ZeroMQ
 
 include(cmake/Externals.cmake)
+set(ZMQ_VERSION "4.3.2")
 
 ExternalProject_Add(zeromq
         PREFIX ${ROMOCC_EXTERNAL_BUILD_DIR}/zeromq
         BINARY_DIR ${ROMOCC_EXTERNAL_BUILD_DIR}/zeromq
         GIT_REPOSITORY "https://github.com/zeromq/libzmq.git"
-        GIT_TAG "v4.3.2"
+        GIT_TAG "v${ZMQ_VERSION}"
         UPDATE_COMMAND ""
         CMAKE_ARGS
             -DCMAKE_BUILD_TYPE:STRING=Release
             -DCMAKE_INSTALL_PREFIX:PATH=${ROMOCC_EXTERNAL_INSTALL_DIR}
             -DBUILD_SHARED_LIBS=OFF
             -DBUILD_STATIC_LIBS=ON
             -DBUILD_PACKAGING=OFF
-            -DBUILD_TESTING=OFF
+            -DBUILD_TESTS=OFF
             -DBUILD_NC_TESTS=OFF
             -DBUILD_CONFIG_TESTS=OFF
             -DINSTALL_HEADERS=ON
         )
 
 list(APPEND ROMOCC_INCLUDE_DIRS ${ROMOCC_EXTERNAL_INSTALL_DIR}/include/)
-list(APPEND LIBRARIES zmq)
+
+if(WIN32)
+    string(REPLACE "." "_" ZMQ_VERSION_US ${ZMQ_VERSION})
+    set(ZMQ_LIBRARY
+            "libzmq-${CMAKE_VS_PLATFORM_TOOLSET}-mt-${ZMQ_VERSION_US}"
+            "libzmq-${CMAKE_VS_PLATFORM_TOOLSET}-mt-s-${ZMQ_VERSION_US}")
+else(WIN32)
+    set(ZMQ_LIBRARY ${CMAKE_SHARED_LIBRARY_PREFIX}zmq${CMAKE_SHARED_LIBRARY_SUFFIX})
+endif(WIN32)
+
+list(APPEND LIBRARIES ${ZMQ_LIBRARY})
 list(APPEND ROMOCC_EXTERNAL_DEPENDENCIES zeromq)

cmake/InstallRomocc.cmake

@@ -3,38 +3,44 @@
 # Install romocc library
 if(WIN32)
 # DLL should be in binary folder
-install(TARGETS romocc
-	DESTINATION libromocc/bin
-)
+	install(TARGETS romocc
+		DESTINATION libromocc/bin
+			COMPONENT romocc
+	)
+	set(CMAKE_INSTALL_SYSTEM_RUNTIME_DESTINATION libromocc/bin)
+	include(InstallRequiredSystemLibraries) # Install vcruntime dlls
 else()
-install(TARGETS romocc
-	DESTINATION libromocc/lib
-)
+	install(TARGETS romocc
+		DESTINATION libromocc/lib
+			COMPONENT romocc
+	)
 endif()
 
 if(ROMOCC_BUILD_TESTS)
 	# Install test executable
 	install(TARGETS testROMOCC
 			DESTINATION libromocc/bin
-			)
+			COMPONENT romocc
+	)
 endif()
 
 # Examples are installed in the macro project_add_example
 
 # Install dependency libraries
 install(FILES ${PROJECT_BINARY_DIR}/romoccExport.hpp
     DESTINATION libromocc/include
+		COMPONENT romocc
 )
 
 if(WIN32)
-	file(GLOB DLLs ${PROJECT_BINARY_DIR}/bin/*.dll)
-	install(FILES ${DLLs}
-		DESTINATION libromocc/bin
-	)
-	file(GLOB DLLs ${PROJECT_BINARY_DIR}/lib/*.lib)
-	install(FILES ${DLLs}
-		DESTINATION libromocc/lib
-	)
+	install(DIRECTORY ${PROJECT_BINARY_DIR}/bin/
+			DESTINATION libromocc/bin/
+			COMPONENT romocc
+			FILES_MATCHING PATTERN "*.dll")
+	install(DIRECTORY ${PROJECT_BINARY_DIR}/lib/
+			DESTINATION libromocc/lib/
+			COMPONENT romocc
+			FILES_MATCHING PATTERN "*.lib")
 elseif(APPLE)
 	file(GLOB SOs ${PROJECT_BINARY_DIR}/lib/*.dylib)
 	install(FILES ${SOs}

cmake/Requirements.cmake

@@ -1,18 +1,23 @@
 # Setup all dependencies, both internal (have to be installed on the system)
 # and external (downloaded and built automatically)
 
-list(APPEND SYSTEM_LIBRARIES pthread)
+if(CMAKE_SYSTEM_NAME STREQUAL Linux)
+    find_package(Threads REQUIRED)
+    list(APPEND SYSTEM_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
+endif()
 
 ## External depedencies
 include(cmake/ExternalEigen.cmake)
 include(cmake/ExternalOrocos.cmake)
 include(cmake/ExternalZeroMQ.cmake)
+include(cmake/ExternalCxxOpts.cmake)
 
 if(ROMOCC_BUILD_URSIMULATOR)
     include(cmake/ExternalURSimulator.cmake)
 endif()
 
 if(ROMOCC_BUILD_PYTHON_BINDINGS)
+    find_package(PythonInterp 3 REQUIRED)
     find_package(PythonLibs 3 REQUIRED)
 endif()
 

cmake/RomoccConfig.cmake.in

@@ -35,6 +35,11 @@ set(ROMOCC_LIBRARIES
 	zmq
 	${X11_LIBRARIES}
 )
+
+if(CMAKE_SYSTEM_NAME STREQUAL Linux)
+    list(APPEND ROMOCC_LIBRARIES pthread)
+endif()
+
 set(ROMOCC_USE_FILE "${CMAKE_CURRENT_LIST_DIR}/RomoccUse.cmake")
 
 message("----------------------------------------")