Merge branch 'orocos:master' into master

.github/dependabot.yml

@@ -0,0 +1,10 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "daily"
+  - package-ecosystem: "gitsubmodule"
+    directory: "/"
+    schedule:
+      interval: "daily"

.github/workflows/main.yml

@@ -0,0 +1,106 @@
+name: CI
+
+on: [push, pull_request, workflow_dispatch]
+
+env:
+  CXXFLAGS: "-Wall -Wextra -Wno-unused-parameter"
+
+jobs:
+  build:
+    name: Build
+    runs-on:  ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04, ubuntu-22.04]
+        orocos_build_type: [Debug, Release]
+        compiler: [gcc, clang]
+        python_version: ['3.8', '3.10']
+        exclude:
+          - os: ubuntu-20.04
+            python_version: '3.10'
+          - os: ubuntu-22.04
+            python_version: '3.8'
+        include:
+          - os: ubuntu-20.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '3.9'
+          - os: ubuntu-20.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '3.10'
+          - os: ubuntu-20.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '3.11'
+          - os: ubuntu-22.04
+            orocos_build_type: Release
+            compiler: gcc
+            python_version: '3.11'
+    env:
+      CC: ${{ matrix.compiler }}
+      OROCOS_BUILD_TYPE: ${{ matrix.orocos_build_type }}
+      ROS_PYTHON_VERSION: ${{ matrix.python_version }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python_version }}
+      - name: Install
+        run: |
+          sudo apt-get install libeigen3-dev libcppunit-dev
+          pip install psutil future
+      - name: Build orocos_kdl
+        run: |
+          cd orocos_kdl
+          mkdir build
+          cd build
+          cmake -DENABLE_TESTS:BOOL=ON -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
+          make
+          sudo make install
+      - name: Build PyKDL
+        run: |
+          cd python_orocos_kdl
+          mkdir build
+          cd build
+          cmake -DCMAKE_BUILD_TYPE=${OROCOS_KDL_BUILD_TYPE} ./..
+          make
+          sudo make install
+      - name: ldconfig
+        run: sudo ldconfig
+      - name: Test orocos_kdl
+        run: |
+          cd orocos_kdl/build
+          make check
+      - name: Test PyKDL
+        run: |
+          cd python_orocos_kdl
+          python_version_short=$(python -c "import sys; print('{}.{}'.format(sys.version_info[0], sys.version_info[1]))")
+          export PYTHONPATH=/usr/local/lib/python${python_version_short}/dist-packages${PYTHONPATH:+:${PYTHONPATH}}
+          python tests/PyKDLtest.py
+
+  industrial_ci:
+    name: Industrial CI - ${{ matrix.env.ROS_DISTRO }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - env:
+              ROS_DISTRO: noetic
+              ROS_REPO: ros
+              ABICHECK_URL: github:orocos/orocos_kinematics_dynamics#release-1.5
+              ABICHECK_MERGE: false
+            branch: release-1.5
+    env: ${{ matrix.env }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+        if: ${{ (github.event_name == 'push' && endsWith(github.ref, matrix.branch)) || (github.event_name == 'pull_request' && endsWith(github.base_ref, matrix.branch)) }}
+      - uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}
+        if: ${{ (github.event_name == 'push' && endsWith(github.ref, matrix.branch)) || (github.event_name == 'pull_request' && endsWith(github.base_ref, matrix.branch)) }}

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "python_orocos_kdl/pybind11"]
+    path = python_orocos_kdl/pybind11
+    url = https://github.com/pybind/pybind11.git
+    branch = stable

README.md

@@ -0,0 +1,20 @@
+# Kinematics and Dynamics Library
+
+[![CI](https://github.com/orocos/orocos_kinematics_dynamics/workflows/CI/badge.svg)](https://github.com/orocos/orocos_kinematics_dynamics/actions)
+
+Orocos project to supply RealTime usable kinematics and dynamics code,
+it contains code for rigid body kinematics calculations and
+representations for kinematic structures and their inverse and forward
+kinematic solvers.
+
+The C++ library is located in the `orocos_kdl` folder. The installation instructions can be found in
+[INSTALL.md](orocos_kdl/INSTALL.md).
+
+The python bindings, are located in the `python_orocos_kdl` folder. The installation instructions can be found in
+[INSTALL.md](python_orocos_kdl/INSTALL.md).
+
+Always use the same version of the C++ library and the python bindings. As a mismatch between these two can cause many issues.
+
+Also when using ROS/catkin, it is preferred to use the catkin installation method over the `cmake/make` method.
+
+There will be no ROS Noetic release.

orocos_kdl/CMakeLists.txt

@@ -1,8 +1,7 @@
 #
 # Test CMake version
 #
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-#MARK_AS_ADVANCED( FORCE CMAKE_BACKWARDS_COMPATIBILITY )
+CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
 
 
 ###################################################
@@ -13,7 +12,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 PROJECT(orocos_kdl)
 
-SET( KDL_VERSION 1.4.0)
+SET( KDL_VERSION 1.5.1)
 STRING( REGEX MATCHALL "[0-9]+" KDL_VERSIONS ${KDL_VERSION} )
 LIST( GET KDL_VERSIONS 0 KDL_VERSION_MAJOR)
 LIST( GET KDL_VERSIONS 1 KDL_VERSION_MINOR)
@@ -24,6 +23,14 @@ MESSAGE( STATUS "Orocos KDL version ${VERSION} (${KDL_VERSION_MAJOR}.${KDL_VERSI
 SET( PROJ_SOURCE_DIR ${orocos_kdl_SOURCE_DIR} )
 SET( PROJ_BINARY_DIR ${orocos_kdl_BINARY_DIR} )
 
+# catkin-specific configuration (optional)
+find_package(catkin QUIET)
+if(catkin_FOUND)
+  catkin_package(
+    SKIP_CMAKE_CONFIG_GENERATION
+    SKIP_PKG_CONFIG_GENERATION
+  )
+endif()
 
 IF(NOT CMAKE_INSTALL_PREFIX)
   SET( CMAKE_INSTALL_PREFIX /usr/local/ CACHE PATH "Installation directory" FORCE)
@@ -42,38 +49,40 @@ ENDIF ( NOT CMAKE_BUILD_TYPE )
 
 SET( KDL_CFLAGS "")
 
-find_package(Eigen 3 QUIET)
-if(NOT Eigen_FOUND)
-  include(${PROJ_SOURCE_DIR}/config/FindEigen3.cmake)
-  set(Eigen_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
+find_package(Eigen3 QUIET)
+if(NOT EIGEN3_FOUND)
+  include(${PROJ_SOURCE_DIR}/cmake/FindEigen3.cmake)
 endif()
-include_directories(${Eigen_INCLUDE_DIR})
-SET(KDL_CFLAGS "${KDL_CFLAGS} -I${Eigen_INCLUDE_DIR}")
+include_directories(${EIGEN3_INCLUDE_DIR})
+SET(KDL_CFLAGS "${KDL_CFLAGS} -I\"${EIGEN3_INCLUDE_DIR}\"")
 
 # Check the platform STL containers capabilities
-include(config/CheckSTLContainers.cmake)
+include(cmake/CheckSTLContainers.cmake)
 CHECK_STL_CONTAINERS()
 
 # Set the default option appropriately
 if(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
-    set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT Off)
+    set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT OFF)
 else(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
-    set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT On)
+    set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT ON)
 endif(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
 
 # Allow the user to select the Tree API version to use
 set(KDL_USE_NEW_TREE_INTERFACE ${KDL_USE_NEW_TREE_INTERFACE_DEFAULT} CACHE BOOL "Use the new KDL Tree interface")
 
+#Sanity check, inform the user
+if(NOT HAVE_STL_CONTAINER_INCOMPLETE_TYPES AND NOT KDL_USE_NEW_TREE_INTERFACE)
+    message(WARNING "You have chosen to use the current Tree Interface, but your platform doesn't support containers of "
+        "incomplete types, this configuration is likely invalid")
+endif()
+
 # The new interface requires the use of shared pointers
 if(KDL_USE_NEW_TREE_INTERFACE)
     # We need shared_ptr from boost since not all compilers are c++11 capable
     find_package(Boost REQUIRED)
     include_directories(${Boost_INCLUDE_DIRS})
-    set(KDL_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
 endif(KDL_USE_NEW_TREE_INTERFACE)
 
-INCLUDE (${PROJ_SOURCE_DIR}/config/DependentOption.cmake)
-
 OPTION(ENABLE_TESTS OFF "Enable building of tests")
 IF( ENABLE_TESTS )
   # If not in standard paths, set CMAKE_xxx_PATH's in environment, eg.
@@ -103,15 +112,20 @@ export(TARGETS orocos-kdl
 
 export(PACKAGE orocos_kdl)
 
-set(KDL_INCLUDE_DIRS ${KDL_INCLUDE_DIRS} ${Eigen_INCLUDE_DIR})
-
-CONFIGURE_FILE(KDLConfig.cmake.in
+# Generate CMake package configuration
+CONFIGURE_FILE(orocos_kdl-config.cmake.in
   ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake @ONLY)
-CONFIGURE_FILE(KDLConfigVersion.cmake.in
+CONFIGURE_FILE(orocos_kdl-config-version.cmake.in
   ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake @ONLY)
 
+INSTALL(FILES cmake/FindEigen3.cmake DESTINATION share/orocos_kdl/cmake)
 INSTALL(FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake DESTINATION share/orocos_kdl/cmake)
 INSTALL(FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake DESTINATION share/orocos_kdl/cmake)
 INSTALL(EXPORT OrocosKDLTargets DESTINATION share/orocos_kdl/cmake)
 
-INSTALL(FILES package.xml DESTINATION share/orocos_kdl)
+# Generate pkg-config package configuration
+CONFIGURE_FILE(orocos_kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc @ONLY)
+CONFIGURE_FILE(orocos_kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc @ONLY)
+
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)

orocos_kdl/INSTALL.md

@@ -0,0 +1,37 @@
+# Install instructions
+
+These install instructions are focused on Debian/Ubuntu systems.
+
+## Shared instructions
+
+1. (Optional) Update apt cache: `sudo apt-get update`
+2. Install EIGEN and cppunit: `sudo apt-get install libeigen3-dev libcppunit-dev`
+3. (Optional) Install `Doxygen` and `Graphviz` to generate API-documentation: `sudo apt-get install doxygen graphviz`
+
+## Compilation
+
+### With catkin
+
+1. Clone the repository inside the workspace
+2. Build with your catkin tool of preference
+3. Source the workspace
+4. (Optional) To generate the API-documentation use either [rosdoc_lite](http://wiki.ros.org/rosdoc_lite) or
+[catkin_tools_document](https://github.com/mikepurvis/catkin_tools_document)
+
+### Without catkin
+
+1. Clone the repository where you want
+2. Go to the `orocos_kdl` folder": `cd orocos_kdl`
+3. Create a new build folder (it is always better not to build in the source folder): `mkdir build`
+4. Go to the build folder `cd build`
+5. Execute cmake: `cmake ..`
+   - (Optional) Adapt `CMAKE_INSTALL_PREFIX` to the desired installation directory
+   - (Optional) To build the tests, add: `-DENABLE_TESTS:BOOL=ON`
+   - (Optional) To change the build type, add: `-DCMAKE_BUILD_TYPE=<DESIRED_BUILD_TYPE>`
+6. Compile: `make`
+7. Install the library: `sudo make install`
+8. (Optional) To execute the tests: `make check`
+9. (Optional) To create the API-documentation: `make docs`. The API-documentation will be generated at
+`<builddir>/doc/api/html`.
+
+To uninstall the library: `sudo make uninstall`