uchile-robotics-forks · joseastorgat · Apr 7, 2017 · Apr 10, 2017 · Apr 12, 2017 · Sep 15, 2017
diff --git a/.github/workflows/kinetic_xenial.yml b/.github/workflows/kinetic_xenial.yml
@@ -0,0 +1,15 @@
+name: ros-kinetic-xenial
+
+on:
+  push
+
+jobs:
+  ros_kinetic_xenial_ci:
+    name: kinetic (xenial)
+    uses: ./.github/workflows/ros.yml
+    with:
+      ROS_DISTRO: kinetic
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: xenial
+      ALLOW_FAIL: false
diff --git a/.github/workflows/melodic_bionic.yml b/.github/workflows/melodic_bionic.yml
@@ -0,0 +1,15 @@
+name: ros-melodic-bionic
+
+on:
+  push
+
+jobs:
+  ros_melodic_bionic_ci:
+    name: melodic (bionic)
+    uses: ./.github/workflows/ros.yml
+    with:
+      ROS_DISTRO: melodic
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: bionic
+      ALLOW_FAIL: false
diff --git a/.github/workflows/noetic_focal.yml b/.github/workflows/noetic_focal.yml
@@ -0,0 +1,15 @@
+name: ros-noetic-focal
+
+on:
+  push
+
+jobs:
+  ros_noetic_focal_ci:
+    name: noetic (focal)
+    uses: ./.github/workflows/ros.yml
+    with:
+      ROS_DISTRO: noetic
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: focal
+      ALLOW_FAIL: false
diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
@@ -0,0 +1,41 @@
+name: ros
+
+on:
+  workflow_call:
+    inputs:
+      ROS_DISTRO:
+        required: true
+        type: string
+      ROS_REPO:
+        required: true
+        type: string
+      OS_NAME:
+        required: true
+        type: string
+      OS_CODE_NAME:
+        required: true
+        type: string
+      ALLOW_FAIL:
+        required: true
+        type: boolean
+
+jobs:
+  ros_ci:
+    name: ROS
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ inputs.ALLOW_FAIL }}
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Check out the naoqi_driver repo
+        uses: actions/checkout@v2
+      - name: Fetch/store directory used by ccache
+        uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ inputs.ROS_DISTRO }}-${{ inputs.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ inputs.ROS_DISTRO }}-${{ inputs.ROS_REPO }}-
+      - name: Run industrial CI
+        uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ inputs }}
diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,7 @@
-.*
 build*
 doc/*
 !doc/source/*
 !doc/Doxyfile
+*.pro
+*.pro.user
+.vscode/
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,7 +1,135 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package naoqi_rosbridge
+Changelog for package naoqi_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2023-06-30)
+------------------
+* Support for Pepper running NAOqi 2.9 #157
+  * Audio is disabled for now
+* Update README contents and presentation
+* Contributors: Mouad Abrini, Théo Magoudi, Victor Paléologue, Maxime Busy
+
+0.5.13 (2022-09-14)
+-------------------
+* Merge branch 'noetic_update'
+* Update package.xml for noetic compatibility
+* Update README, remove CI stretch tests
+* Contributors: mbusy
+
+0.5.12 (2022-09-07)
+-------------------
+* Fix typo in README, remove old rst README
+* Merge pull request `#153 <https://github.com/ros-naoqi/naoqi_driver/issues/153>`_ from mbusy/ci
+  CI migration to github actions
+* Migrate CI from TravisCI to Github actions, update the README accordingly (switching to markdown)
+* Merge pull request `#152 <https://github.com/ros-naoqi/naoqi_driver/issues/152>`_ from mbusy/naoqi-2.9
+  Naoqi 2.9 compatibility
+* Refactor the converters for compatibility
+* Refactor the audio event for compatibility
+* Add the getNaoqiVersion and isNaoqiVersionLesser to the driver helpers
+* Add the NaoqiVersion struct
+* Handle libqi 2.9 for the external registration, and update the launchfile accordingly
+* Add the driver authenticator class
+* Merge pull request `#132 <https://github.com/ros-naoqi/naoqi_driver/issues/132>`_ from mbusy/robust_movebase
+  Robustify moveTo
+* Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
+* Merge pull request `#131 <https://github.com/ros-naoqi/naoqi_driver/issues/131>`_ from ros-naoqi/testing_repo
+  Update CI for melodic
+* melodic not allowed to fail anymore, indigo allowed
+* use testing repo
+* Contributors: Maxime Busy, Mikael Arguedas, Pandhariix, mbusy
+
+0.5.11 (2020-01-08)
+-------------------
+* Merge pull request `#129 <https://github.com/ros-naoqi/naoqi_driver/issues/129>`_ from Pandhariix/melodic_compatibility
+  Melodic compatibility
+* Merge pull request `#126 <https://github.com/ros-naoqi/naoqi_driver/issues/126>`_ from Pandhariix/lasers_range
+  Parametrizable range for Pepper's lasers
+* Merge pull request `#130 <https://github.com/ros-naoqi/naoqi_driver/issues/130>`_ from Pandhariix/melodic_ci
+  Adapt the README to the new CI
+* Update CI, add melodic-stretch
+* Adapt the README to the new CI
+* Merge pull request `#128 <https://github.com/ros-naoqi/naoqi_driver/issues/128>`_ from ros-naoqi/use_ici
+  use industrial_ci instead of custom CI
+* send emails only for builds on master branch
+  Signed-off-by: Mikael Arguedas <[email protected]>
+* use industrial_ci instead of custom CI
+  Signed-off-by: Mikael Arguedas <[email protected]>
+* Remove -Werror=deprecated-declarations to compile for melodic
+* Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
+* Include iostream to avoid cout not a member of std
+* Merge pull request `#127 <https://github.com/ros-naoqi/naoqi_driver/issues/127>`_ from ros-naoqi/remove_eol_lunar
+  remove EOL ROS Lunar from travis config
+* remove lunar from readme as well
+  Signed-off-by: Mikael Arguedas <[email protected]>
+* remove EOL ROS Lunar from travis config
+  Signed-off-by: Mikael Arguedas <[email protected]>
+* Parametrizable range for Pepper's lasers. Default range, 0.1 to 3.0 meters
+* Merge pull request `#125 <https://github.com/ros-naoqi/naoqi_driver/issues/125>`_ from Pandhariix/indigo_ci
+  Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
+* Merge pull request `#124 <https://github.com/ros-naoqi/naoqi_driver/issues/124>`_ from ros-naoqi/fix_orocos
+  upgrade to make sure all package versions are consistent
+* Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
+* upgrade to make sure all package versions are comsistent
+  Signed-off-by: Mikael Arguedas <[email protected]>
+* Merge pull request `#123 <https://github.com/ros-naoqi/naoqi_driver/issues/123>`_ from ros-naoqi/rosdep_eol
+  pass rosdep eol flag
+* pass rosdep eol flag
+  Signed-off-by: Mikael Arguedas <[email protected]>
+* Merge pull request `#113 <https://github.com/ros-naoqi/naoqi_driver/issues/113>`_ from Pandhariix/master
+  Add velocities and torques to the joint states
+* Changing the maintainer
+* Add velocities and torques to the joint states
+* Merge pull request `#112 <https://github.com/ros-naoqi/naoqi_driver/issues/112>`_ from Pandhariix/hotfix/indigo_compilation
+  Fix compilation error for indigo
+* Fix compilation error for indigo
+* Merge pull request `#111 <https://github.com/ros-naoqi/naoqi_driver/issues/111>`_ from Pandhariix/feature/stereo
+  Feature/stereo
+* Print the detected version of the robot
+* Update boot_config to take into account the stereo
+* Update naoqi_driver to take into account robots with stereo
+* Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
+* Update the CameraConverter class to take the stereo into account
+* Add the isDepthStereo method to the driver helpers
+* Add the RGB Stereo and Depth Stereo parameters to the vision definitions
+* Merge pull request `#108 <https://github.com/ros-naoqi/naoqi_driver/issues/108>`_ from kochigami/add-initializing-message
+  * add naoqi_driver initialized message
+  * modify the message of service and subscriber registering process
+* modify message of service and subscriber registering process like others
+* add naoqi_driver initialized message
+* Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, Séverin Lemaignan
+
+0.5.10 (2018-02-16)
+-------------------
+* disable logs as default (reference `#68 <https://github.com/ros-naoqi/naoqi_driver/issues/68>`_) (`#88 <https://github.com/ros-naoqi/naoqi_driver/issues/88>`_)
+* Missing tf2 include and tf2 exception type (`#103 <https://github.com/ros-naoqi/naoqi_driver/issues/103>`_)
+  * Add missing include tf2_ros/buffer.h
+  * Catch tf2::TransformException
+* add services for get and set language (`#87 <https://github.com/ros-naoqi/naoqi_driver/issues/87>`_)
+* C-style comments are not syntactically correct in JSON (`#98 <https://github.com/ros-naoqi/naoqi_driver/issues/98>`_)
+  * C-style comments are not syntactically correct in JSON
+* Remove Jade from Travis description (`#95 <https://github.com/ros-naoqi/naoqi_driver/issues/95>`_)
+  * Remove Jade from Travis description and CI matrix
+  * Correct badges according to the Travis matrix modification, and add Debian stretch badge
+* Adding a maintainer
+* Ci (`#94 <https://github.com/ros-naoqi/naoqi_driver/issues/94>`_)
+  * Add .travis.yml
+* Adding a warning for VGA resolution for depth camera (`#93 <https://github.com/ros-naoqi/naoqi_driver/issues/93>`_)
+  Adding a warning for VGA resolution for depth camera
+* Merge pull request `#92 <https://github.com/ros-naoqi/naoqi_driver/issues/92>`_ from Pandhariix/add_joint_limits
+  Add joint limits to the diagnostics
+* Start adding joints limits to the diagnostic
+  Add double layered float vector converter method
+  Add the joints limit map, and add the joints limits to the diagnostic message
+* Update gitignore
+* Fix typo in naoqi_driver.hpp
+* Merge pull request `#85 <https://github.com/ros-naoqi/naoqi_driver/issues/85>`_ from PacoDu/fix_node_name_empty
+  Fix node name empty related to pepper_robot issue `#35 <https://github.com/ros-naoqi/naoqi_driver/issues/35>`_
+* Update naoqi_driver.cpp
+  Error while merging, setPrefix removed.
+* Fix node name issue `#35 <https://github.com/ros-naoqi/naoqi_driver/issues/35>`_
+* Contributors: Dupont Paco, Esteve Fernandez, Kanae Kochigami, Maxime Busy, Natalia Lyubova, Paco Dupont, Shane Loretz, Surya Ambrose
+
 0.5.9 (2016-11-08)
 ------------------
 * -Vincent Rabaud as a maintainer, +Natalia Lyubova

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 2.8.3)
 project(naoqi_driver)
+cmake_minimum_required(VERSION 3.0.2)
 
 # define source files that can be used by qibuild or catkin
 set(
@@ -46,6 +46,8 @@ set(
 set(
   SERVICES_SRC
   src/services/robot_config.cpp
+  src/services/set_language.cpp
+  src/services/get_language.cpp
   )
 
 set(

diff --git a/CMakeLists_catkin.txt b/CMakeLists_catkin.txt
@@ -15,6 +15,7 @@ find_package(catkin COMPONENTS
   naoqi_libqicore
   robot_state_publisher
   rosbag_storage
+  rosconsole
   rosgraph_msgs
   sensor_msgs
   tf2_geometry_msgs
@@ -28,10 +29,6 @@ add_definitions(-DLIBQI_VERSION=${naoqi_libqi_VERSION_MAJOR}${naoqi_libqi_VERSIO
 
 catkin_package(LIBRARIES naoqi_driver_module naoqi_driver)
 
-if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=deprecated-declarations")
-endif()
-
 include_directories( include ${catkin_INCLUDE_DIRS})
 
 # create the different libraries

diff --git a/README.md b/README.md
@@ -0,0 +1,99 @@
+# naoqi_driver
+
+This module establishes a ROS bridge with NAOqi. It publishes several sensor data as well as the robot position.
+
+It also enables ROS to call parts of the NAOqi API.
+It was tested with a pepper robot.
+
+## Installation
+
+For **noetic**, on Ubuntu 20.04:
+
+```sh
+sudo apt install ros-noetic-naoqi-driver
+```
+
+## Dependencies
+
+To run, the driver requires the [`naoqi_libqi`](https://github.com/ros-naoqi/libqi), [`naoqi_libqicore`](https://github.com/ros-naoqi/libqicore) and [`naoqi_bridge_msgs`](https://github.com/ros-naoqi/naoqi_bridge_msgs) packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, [`pepper_meshes`](https://github.com/ros-naoqi/pepper_meshes) and/or [`nao_meshes`](https://github.com/ros-naoqi/nao_meshes) can be useful if you try to display the robot in RViz.
+
+## How it works
+
+The __naoqi_driver__ module is a NAOqi module that also acts
+as a ROS node. Ros will automaticaly generate a roscore IP for the robot.
+Usually, you will start your __roscore__ on your local desktop.
+
+Once connected, normal ROS communication is happening between
+your robot, running NAOqi OS, and your desktop, running ROS.
+
+## Launch
+
+Before launching, you may want to shutdown the autonomous life of the robot with the following process:
+
+```sh
+ssh nao@<naoip>
+qicli call ALAutonomousLife.setState disabled
+qicli call ALMotion.wakeUp
+```
+
+The driver can be launched using the following command:
+
+Be aware that username and password arguments are only
+required for robots running NAOqi 2.9 or greater.
+
+```sh
+source <catkin_ws>/devel/setup.bash
+roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> roscore_ip := <ip> network_interface:=<interface> username:=<name> password:=<passwd>
+```
+
+Warning: `naoqi_driver` for melodic and greater have to be used for robots
+running NAOqi 2.9 and greater.
+
+Warning: If you have a `connection refused error` such as [this issue](https://github.com/ros-naoqi/naoqi_driver/issues/162) when using robots running NAOqi 2.8 and greater, please try to give `nao_port:=9503` explicitly.
+
+## Check that the node is running correctly
+
+Check that naoqi_driver is connected with :
+
+```sh
+rosnode info /naoqi_driver
+```
+
+Check that you can move the head by publishing on `/joint_angles`:
+
+```sh
+rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
+```
+
+You can see the published message with `rostopic echo /joint_angles`
+
+Check that you can move the robot by publishing on cmd_vel to make the robot move:
+
+```sh
+rostopic pub /cmd_vel geometry_msgs/Twist "linear:
+  x: 2.0
+  y: 0.0
+  z: 0.0
+angular:
+  x: 0.0
+  y: 0.0
+  z: 1.8"
+```
+
+## Build status
+
+ROS Distro| Binary Status | Source Status | Github Build |
+|-------------------|-------------------|-------------------|-------------------|
+Noetic | [![Build Status](https://build.ros.org/job/Nbin_uf64__naoqi_driver__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uf64__naoqi_driver__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros.org/job/Nsrc_uF__naoqi_driver__ubuntu_focal__source/badge/icon)](https://build.ros.org/job/Nsrc_uF__naoqi_driver__ubuntu_focal__source/) | [![ros-noetic-focal](https://github.com/ros-naoqi/naoqi_driver/actions/workflows/noetic_focal.yml/badge.svg)](https://github.com/ros-naoqi/naoqi_driver/actions/workflows/noetic_focal.yml)
+Melodic | [![Build Status](https://build.ros.org/job/Mbin_ub64__naoqi_driver__ubuntu_bionic_amd64__binary/badge/icon)](https://build.ros.org/job/Mbin_ub64__naoqi_driver__ubuntu_bionic_amd64__binary/) | [![Build Status](https://build.ros.org/job/Msrc_uB__naoqi_driver__ubuntu_bionic__source/badge/icon)](https://build.ros.org/job/Msrc_uB__naoqi_driver__ubuntu_bionic__source/) | [![ros-melodic-bionic](https://github.com/ros-naoqi/naoqi_driver/actions/workflows/melodic_bionic.yml/badge.svg)](https://github.com/ros-naoqi/naoqi_driver/actions/workflows/melodic_bionic.yml)
+Kinetic | ![passing](https://raw.githubusercontent.com/jenkinsci/embeddable-build-status-plugin/7c7eedc7617851f07a1f09629c33fee11cff50ab/src/doc/flat_unconfigured.svg) | ![passing](https://raw.githubusercontent.com/jenkinsci/embeddable-build-status-plugin/7c7eedc7617851f07a1f09629c33fee11cff50ab/src/doc/flat_unconfigured.svg) | [![ros-kinetic-xenial](https://github.com/ros-naoqi/naoqi_driver/actions/workflows/kinetic_xenial.yml/badge.svg)](https://github.com/ros-naoqi/naoqi_driver/actions/workflows/kinetic_xenial.yml) |
+
+## Further information
+
+For further information, you can consult the documentation (OUTDATED) [here](http://ros-naoqi.github.io/naoqi_driver/) or build it:
+
+```sh
+cd doc
+doxygen Doxyfile
+sphinx-build -b html ./source/ ./build/
+```