Repository: ros-industrial/abb_experimental
Branch: kinetic-devel
Commit: 29c35a63d6e2
Files: 8
Total size: 24.0 KB
Directory structure:
gitextract_2onpvnw4/
├── .github/
│ └── workflows/
│ ├── ci_bionic.yml
│ └── ci_focal.yml
├── .gitignore
├── CONTRIBUTING.md
├── LICENSE
├── README.md
└── abb_experimental/
├── CMakeLists.txt
└── package.xml
================================================
FILE CONTENTS
================================================
================================================
FILE: .github/workflows/ci_bionic.yml
================================================
name: CI - Ubuntu Bionic
on:
# direct pushes to protected branches are not supported
pull_request:
# run every day, at 8am UTC
schedule:
- cron: '0 8 * * *'
# allow manually starting this workflow
workflow_dispatch:
jobs:
industrial_ci:
name: ROS Melodic (${{ matrix.ros_repo }})
runs-on: ubuntu-20.04
strategy:
fail-fast: false
matrix:
ros_distro: [ melodic ]
ros_repo: [ main, testing ]
env:
CCACHE_DIR: "${{ github.workspace }}/.ccache"
UPSTREAM_WORKSPACE: 'github:ros-industrial/abb#kinetic-devel'
steps:
- name: Fetch repository
uses: actions/checkout@v3
- name: ccache cache
uses: actions/cache@v3
with:
path: ${{ env.CCACHE_DIR }}
# we always want the ccache cache to be persisted, as we cannot easily
# determine whether dependencies have changed, and ccache will manage
# updating the cache for us. Adding 'run_id' to the key will force an
# upload at the end of the job.
key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}}
restore-keys: |
ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}
- name: Run industrial_ci
uses: ros-industrial/industrial_ci@master
env:
ROS_DISTRO: ${{ matrix.ros_distro }}
ROS_REPO: ${{ matrix.ros_repo }}
================================================
FILE: .github/workflows/ci_focal.yml
================================================
name: CI - Ubuntu Focal
on:
# direct pushes to protected branches are not supported
pull_request:
# run every day, at 8am UTC
schedule:
- cron: '0 8 * * *'
# allow manually starting this workflow
workflow_dispatch:
jobs:
industrial_ci:
name: ROS Noetic (${{ matrix.ros_repo }})
runs-on: ubuntu-20.04
strategy:
fail-fast: false
matrix:
ros_distro: [ noetic ]
ros_repo: [ main, testing ]
env:
CCACHE_DIR: "${{ github.workspace }}/.ccache"
# using both abb as well as abb_driver from source as:
#
# - experimental repositories may always depend on unreleased changes
# in the non-experimental repository, and
# - industrial_core has recently been updated and only melodic-devel of
# abb_driver is compatible with those changes
#
UPSTREAM_WORKSPACE: 'github:ros-industrial/abb#kinetic-devel github:ros-industrial/abb_driver#melodic-devel'
steps:
- name: Fetch repository
uses: actions/checkout@v3
- name: ccache cache
uses: actions/cache@v3
with:
path: ${{ env.CCACHE_DIR }}
# we always want the ccache cache to be persisted, as we cannot easily
# determine whether dependencies have changed, and ccache will manage
# updating the cache for us. Adding 'run_id' to the key will force an
# upload at the end of the job.
key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}}
restore-keys: |
ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}
- name: Run industrial_ci
uses: ros-industrial/industrial_ci@master
env:
ROS_DISTRO: ${{ matrix.ros_distro }}
ROS_REPO: ${{ matrix.ros_repo }}
================================================
FILE: .gitignore
================================================
# Compiled Object files
*.slo
*.lo
*.o
# Compiled Dynamic libraries
*.so
*.dylib
# Compiled Static libraries
*.lai
*.la
*.a
# Temp files
*~
*.autosave
================================================
FILE: CONTRIBUTING.md
================================================
ROS-Industrial is a community project. We welcome contributions from any source, from those who are extremely active to casual users. The following sections outline the steps on how to contribute to ROS-Industrial. It assumes there is an existing repository to which one would like to contribute (item 1 in the figure above) and one is familiar with the Git "Fork and Branch" workflow, detailed [here](http://blog.scottlowe.org/2015/01/27/using-fork-branch-git-workflow/).
1. Before any development is undertaken, a contributor would communicate a need and/or issue to the ROS-Industrial community. This can be done by submitting an issue on the appropriate GitHub repo, the [issues repo](https://github.com/ros-industrial/ros_industrial_issues), or by posting a message in the [ROS-Industrial category on ROS Discourse](//swri-ros-pkg-dev@googlegroups.com). . Doing so may save you time if similar development is underway and ensure that whatever approach you take is acceptable to the community of reviewers once it is submitted.
2. The second step (item 2) is to implement your change. If you are working on a code contribution, we highly recommend you utilize the [ROS Qt-Creator Plug-in](http://rosindustrial.org/news/2016/6/9/ros-qt-ide-plugin). Verify that your change successfully builds and passes all tests.
3. Next, push your changes to a "feature" branch in your personal fork of the repo and issue a pull request (PR)(item 3). The PR allows maintainers to review the submitted code. Before the PR can be accepted, the maintainer and contributor must agree that the contribution is implemented appropriately. This process can take several back-and-forth steps (see [example](https://github.com/ros-industrial/motoman/pull/89)). Contributors should expect to spend as much time reviewing/changing the code as on the initial implementation. This time can be minimized by communicating with the ROS-Industrial community before any contribution is made.
4. Issuing a Pull Request (PR) triggers the [Travis Continuous Integrations (CI)](https://github.com/ros-industrial/industrial_ci) step (item 4) which happens automatically in the background. The Travis CI performs several operations, and if any of the steps below fail, then the PR is marked accordingly for the maintainer.
* Travis Workflow:
* Installs a barebones ROS distribution on a fresh Ubuntu virtual machine.
* Creates a catkin workspace and puts the repository in it.
* Uses wstool to check out any from-source dependencies (i.e. other repositories).
* Resolves package dependencies using rosdep (i.e. install packages using apt-get).
* Compiles the catkin workspace.
* Runs all available unit tests.
5. If the PR passes Travis CI and one of the maintainers is satisfied with the changes, they post a +1 as a comment on the PR (item 5). The +1 signifies that the PR is ready to be merged. All PRs require at least one +1 and pass Travis CI before it can be merged.
6. The next step (item 6) is for the PR to be merged into the main branch. This is done through the GitHub web interface by selecting the “Merge pull request” button. After the PR is merged, all status badges are updated automatically.
7. Periodically, the maintainer will release the package (item 7), which then gets sent to the [ROS Build Farm](http://wiki.ros.org/build.ros.org) for Debian creation.
8. The publishing of the released packages (item 8) is managed by OSRF and is not on a set schedule. This usually happens when all packages for a given distro are built successfully and stable. The current status for the distro kinetic can be found [here](http://repositories.ros.org/status_page/ros_kinetic_default.html) . Navigating to other distros can be done by changing the distro name in the link.
9. Once the package has been published, it is available to be installed by the developer (item 9).
10. After the install of a new version, the developer may have questions, experience issues or it may not have the necessary functionality which should all be reported on the packages GitHub repository as an issue (item 10). If an issue is identified or there is missing functionality that the developer requires, the cycle starts back at (item 2).
For more details, please refer to the [ROS-I wiki](http://wiki.ros.org/Industrial/DevProcess).
## Licensing
Any contribution that you make to this repository will
be under the Apache 2 License, as dictated by that
[license](http://www.apache.org/licenses/LICENSE-2.0.html):
~~~
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
~~~
================================================
FILE: LICENSE
================================================
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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================================================
FILE: README.md
================================================
# ABB Experimental
[](https://github.com/ros-industrial/abb_experimental/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
[](http://github.com/ros-industrial/abb_experimental/issues)
[](https://opensource.org/licenses/Apache-2.0)
[](https://opensource.org/licenses/BSD-3-Clause)
[](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
[ROS-Industrial][] ABB experimental meta-package. See the [ROS wiki][] page for more information.
## Contents
This repository contains packages that will be migrated to the [abb][] repository after they have received sufficient testing.
The contents of these packages are subject to change, without prior notice.
Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.
Branch naming follows the ROS distribution they are compatible with. `-devel` branches may be unstable.
## Naming Convention
All robot support packages and MoveIt configurations follow the naming conventions as described in [REP-I0007][].
## Installation
As this repository contains experimental packages, no binary packages are available.
Instead, follow the instructions to build them in a Catkin workspace shown in the next section.
## Building
### On newer (or older) versions of ROS
Building the packages on newer (or older) versions of ROS is in most cases possible and supported. For example: building the packages in this repository on Ubuntu Xenial/ROS Kinetic or Ubuntu Bionic/ROS Melodic systems is supported. This will require creating a Catkin workspace, cloning this repository, installing all required dependencies and finally building the workspace.
### Catkin tools
It is recommended to use [catkin_tools][] instead of the default [catkin][] when building ROS workspaces. `catkin_tools` provides a number of benefits over regular `catkin_make` and will be used in the instructions below. All packages can be built using `catkin_make` however: use `catkin_make` in place of `catkin build` where appropriate.
### Building the packages
The following instructions assume that a [Catkin workspace][] has been created at `$HOME/catkin_ws` and that the *source space* is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine.
These instructions build the `kinetic-devel` branch on a ROS Kinetic system:
```bash
# change to the root of the Catkin workspace
$ cd $HOME/catkin_ws
# retrieve the latest development version of the abb repository. If you'd rather
# use the latest released version, replace 'kinetic-devel' with 'kinetic'
$ git clone -b kinetic-devel https://github.com/ros-industrial/abb.git src/abb
# retrieve the latest development version of abb_experimental
$ git clone -b kinetic-devel https://github.com/ros-industrial/abb_experimental.git src/abb_experimental
# check build dependencies. Note: this may install additional packages,
# depending on the software installed on the machine
$ rosdep update
# be sure to change 'kinetic' to whichever ROS release you are using
$ rosdep install --from-paths src/ --ignore-src --rosdistro kinetic
# build the workspace (using catkin_tools)
$ catkin build
```
### Activating the workspace
Finally, activate the workspace to get access to the packages just built:
```bash
$ source $HOME/catkin_ws/devel/setup.bash
```
At this point all packages should be usable (ie: `roslaunch` should be able to auto-complete package names starting with `abb_..`). In case the workspace contains additional packages (ie: not from this repository), those should also still be available.
## Installation and usage
Refer to [Working With ROS-Industrial Robot Support Packages][] for information on how to use the files provided by the robot support and MoveIt configuration packages. See also the other pages on the [ROS wiki][].
Refer to the [tutorials][] for information on installation and configuration of the controller-specific software components.
[ROS-Industrial]: http://wiki.ros.org/Industrial
[ROS wiki]: http://wiki.ros.org/abb_experimental
[abb]: https://github.com/ros-industrial/abb
[REP-I0007]: https://github.com/ros-industrial/rep/blob/master/rep-I0007.rst
[Catkin workspace]: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
[catkin]: http://wiki.ros.org/catkin
[catkin_tools]: https://catkin-tools.readthedocs.io/en/latest
[Working With ROS-Industrial Robot Support Packages]: http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages
[tutorials]: http://wiki.ros.org/abb/Tutorials
================================================
FILE: abb_experimental/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 3.0.2)
project(abb_experimental)
find_package(catkin REQUIRED)
catkin_metapackage()
================================================
FILE: abb_experimental/package.xml
================================================
<?xml version="1.0"?>
<package format="2">
<name>abb_experimental</name>
<version>0.1.0</version>
<description>Experimental packages for ABB manipulators within ROS-Industrial.</description>
<author>Shaun Edwards</author>
<maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/abb_experimental</url>
<url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>
<url type="repository">https://github.com/ros-industrial/abb_experimental</url>
<buildtool_depend>catkin</buildtool_depend>
<export>
<metapackage/>
<architecture_independent/>
</export>
</package>
gitextract_2onpvnw4/
├── .github/
│ └── workflows/
│ ├── ci_bionic.yml
│ └── ci_focal.yml
├── .gitignore
├── CONTRIBUTING.md
├── LICENSE
├── README.md
└── abb_experimental/
├── CMakeLists.txt
└── package.xml
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