Add option ENABLE_ESKIN.

isri-aist · Apr 25, 2024 · 55ab9f7 · 55ab9f7
1 parent 3d577dd
commit 55ab9f7
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Showing 5 changed files with 40 additions and 11 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -65,7 +65,7 @@ jobs:
         uses: jrl-umi3218/github-actions/build-cmake-project@master
         with:
           build-type: ${{ matrix.build-type }}
-          options: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }}
+          options: -DENABLE_ESKIN=OFF -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }}
       - name: Upload documentation
         if: env.UPLOAD_DOCUMENTATION == 'true'
         run: |

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,6 +14,7 @@ set(CXX_DISABLE_WERROR ON)
 set(CMAKE_COLOR_DIAGNOSTICS ON)
 
 option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
+option(ENABLE_ESKIN "Enable e-Skin tactile sensor" ON)
 
 include(cmake/base.cmake)
 project(${PROJECT_NAME} LANGUAGES CXX)
@@ -31,7 +32,12 @@ pkg_check_modules(eigen_conversions REQUIRED IMPORTED_TARGET eigen_conversions)
 find_package(PkgConfig)
 pkg_check_modules(mujoco_tactile_sensor_plugin REQUIRED IMPORTED_TARGET
                   mujoco_tactile_sensor_plugin)
-pkg_check_modules(eskin_ros_utils REQUIRED IMPORTED_TARGET eskin_ros_utils)
+if(ENABLE_ESKIN)
+  pkg_check_modules(eskin_ros_utils REQUIRED IMPORTED_TARGET eskin_ros_utils)
+  message("-- Enable e-Skin")
+else()
+  message("-- Disable e-Skin")
+endif()
 
 install(FILES etc/TactileSensor.yaml
         DESTINATION "${MC_PLUGINS_RUNTIME_INSTALL_PREFIX}/etc")

diff --git a/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h b/include/McRtcTactileSensorPlugin/TactileSensorPlugin.h
@@ -5,7 +5,9 @@
 #include <ros/callback_queue.h>
 #include <ros/ros.h>
 
-#include <eskin_ros_utils/PatchData.h>
+#ifdef ENABLE_ESKIN
+#  include <eskin_ros_utils/PatchData.h>
+#endif
 #include <mujoco_tactile_sensor_plugin/TactileSensorData.h>
 #include <variant>
 
@@ -66,20 +68,26 @@ struct TactileSensorPlugin : public mc_control::GlobalPlugin
   void mujocoSensorCallback(const mujoco_tactile_sensor_plugin::TactileSensorData::ConstPtr & sensorMsg,
                             size_t sensorIdx);
 
+#ifdef ENABLE_ESKIN
   /** \brief ROS callback of tactile sensor topic from e-Skin.
-      \param sensorMsg sensor message
-      \param sensorIdx sensor index
-   */
+        \param sensorMsg sensor message
+        \param sensorIdx sensor index
+     */
   void eskinSensorCallback(const eskin_ros_utils::PatchData::ConstPtr & sensorMsg, size_t sensorIdx);
+#endif
 
 protected:
   //! Sensor information list
   std::vector<SensorInfo> sensorInfoList_;
 
   //! Sensor message list
+#ifdef ENABLE_ESKIN
   std::vector<std::variant<std::nullptr_t,
                            std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData>,
                            std::shared_ptr<eskin_ros_utils::PatchData>>>
+#else
+  std::vector<std::variant<std::nullptr_t, std::shared_ptr<mujoco_tactile_sensor_plugin::TactileSensorData>>>
+#endif
       sensorMsgList_;
 
   //! ROS variables

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -2,9 +2,13 @@ set(AUTOLOAD_TactileSensor_PLUGIN
     OFF
     CACHE INTERNAL "Automatically load TactileSensor plugin")
 add_plugin(TactileSensor TactileSensorPlugin.cpp)
-target_include_directories(TactileSensor PUBLIC ${eskin_ros_utils_INCLUDE_DIRS})
-target_link_directories(TactileSensor PUBLIC ${eskin_ros_utils_LIBRARY_DIRS})
 target_link_libraries(
-  TactileSensor
-  PUBLIC PkgConfig::eigen_conversions PkgConfig::mujoco_tactile_sensor_plugin
-         ${eskin_ros_utils_LIBRARIES})
+  TactileSensor PUBLIC PkgConfig::eigen_conversions
+                       PkgConfig::mujoco_tactile_sensor_plugin)
+if(ENABLE_ESKIN)
+  target_compile_definitions(TactileSensor PUBLIC ENABLE_ESKIN)
+  target_include_directories(TactileSensor
+                             PUBLIC ${eskin_ros_utils_INCLUDE_DIRS})
+  target_link_directories(TactileSensor PUBLIC ${eskin_ros_utils_LIBRARY_DIRS})
+  target_link_libraries(TactileSensor PUBLIC ${eskin_ros_utils_LIBRARIES})
+endif()
diff --git a/src/TactileSensorPlugin.cpp b/src/TactileSensorPlugin.cpp
@@ -40,7 +40,12 @@ void TactileSensorPlugin::init(mc_control::MCGlobalController & gc, const mc_rtc
       }
       else if(msgTypeStr == "eskin")
       {
+#ifdef ENABLE_ESKIN
         sensorInfo.msgType = MsgType::Eskin;
+#else
+        mc_rtc::log::error_and_throw(
+            "[mc_plugin::TactileSensorPlugin] e-Skin is disabled. Rebuild with the \"-DENABLE_ESKIN=ON\" option.");
+#endif
       }
       else
       {
@@ -92,12 +97,14 @@ void TactileSensorPlugin::init(mc_control::MCGlobalController & gc, const mc_rtc
           sensorInfoList_[sensorIdx].topicName, 1,
           std::bind(&TactileSensorPlugin::mujocoSensorCallback, this, std::placeholders::_1, sensorIdx)));
     }
+#ifdef ENABLE_ESKIN
     else // if(sensorInfoList_[sensorIdx].msgType == MsgType::Eskin)
     {
       sensorSubList_.push_back(nh_->subscribe<eskin_ros_utils::PatchData>(
           sensorInfoList_[sensorIdx].topicName, 1,
           std::bind(&TactileSensorPlugin::eskinSensorCallback, this, std::placeholders::_1, sensorIdx)));
     }
+#endif
   }
 
   reset(gc);
@@ -156,6 +163,7 @@ void TactileSensorPlugin::before(mc_control::MCGlobalController & gc)
       sva::PTransformd tactileToForceTrans = forceSensorPose * tactileSensorPose.inv();
       wrench = tactileToForceTrans.dualMul(wrench);
     }
+#ifdef ENABLE_ESKIN
     else if(std::holds_alternative<std::shared_ptr<eskin_ros_utils::PatchData>>(sensorMsgList_[sensorIdx]))
     {
       const auto & sensorMsg = std::get<std::shared_ptr<eskin_ros_utils::PatchData>>(sensorMsgList_[sensorIdx]);
@@ -181,6 +189,7 @@ void TactileSensorPlugin::before(mc_control::MCGlobalController & gc)
       sva::PTransformd tactileToForceTrans = forceSensorPose * tactileSensorPose.inv();
       wrench = tactileToForceTrans.dualMul(wrench);
     }
+#endif
     forceSensor.wrench(wrench);
   }
 }
@@ -192,10 +201,12 @@ void TactileSensorPlugin::mujocoSensorCallback(
   sensorMsgList_[sensorIdx] = std::make_shared<mujoco_tactile_sensor_plugin::TactileSensorData>(*sensorMsg);
 }
 
+#ifdef ENABLE_ESKIN
 void TactileSensorPlugin::eskinSensorCallback(const eskin_ros_utils::PatchData::ConstPtr & sensorMsg, size_t sensorIdx)
 {
   sensorMsgList_[sensorIdx] = std::make_shared<eskin_ros_utils::PatchData>(*sensorMsg);
 }
+#endif
 } // namespace mc_plugin
 
 EXPORT_MC_RTC_PLUGIN("TactileSensor", mc_plugin::TactileSensorPlugin)