Nixpkg support for ConnectModules branch#505
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arntanguy wants to merge 56 commits intojrl-umi3218:masterfrom
Draft
Nixpkg support for ConnectModules branch#505arntanguy wants to merge 56 commits intojrl-umi3218:masterfrom
arntanguy wants to merge 56 commits intojrl-umi3218:masterfrom
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Nix sets them to an absolute path with clashes with the usual assumtion that GNUInstallPaths returns them as relative names (e.g lib, bin, ...)
This is required to build controllers into a separate install prefix in nix
…able This allows to easily set a default configuration in docker environments
for more information, see https://pre-commit.ci
for more information, see https://pre-commit.ci
This method allows to generate a new RobotModule by connecting two modules together.
for more information, see https://pre-commit.ci
Boost 1.74 has a bug in bfs::copy_path, use std::filesystem instead
The introduction of RobotModule::connect made it interesting to compose robot modules. In order to expose new modules that are composed of multiple other existing modules, it is necessary to allow loading other robot modules while creating a new one. This effectively allows calling get_robot_module from within the create() function of a new robot module library. To do so we unlock the mutex just before the actual call to create(). This may have unintended side effects.
for more information, see https://pre-commit.ci
jointConfig for a free joint is a 0-matrix, thus the transform is a zero matrix. This messes up the root joint's inertia and such.
For now we do not generate a connected robot module using the real urdf paths, we probably should. To support display as-is in ROS, we use the control urdf as real urdf.
This allows to define collisions and ignore them if the convex files are missing. Useful for quick multi-robot FSM setups.
…ULT_RUNTIME_INSTALL_PREFIX MC_STATES_DEFAULT_RUNTIME_INSTALL_PREFIX should always point to mc_rtc's own install prefix, regardless of MC_RTC_HONOR_INSTALL_PREFIX value
…brarie files - Merge library runtime paths (ControllerPaths, RobotModulePaths, etc). This is useful for Nix to provide multiple mc_rtc.yaml files building the full runtime paths, and to allow overriding nix default derivations with local builds in the user's environment. The first loaded library gets picked up, which corresponds to that of the latest mc_rtc.yaml file loaded. - Fix a logic inconsistency in loader.cpp: we were looping twice over each library file
Nix installs all ros packages in their own separate install prefix. This breaks some default assumption we had, in particular in paths fallback when package:// cannot be resolved. We use to assume that we could fallback to a path relative to mc_env_description, this is no longer possible. In addition we explicitely check that manually provided fallback paths actually exist. Instead we make mc_env_description, mc_int_obj_description and jvrc_description paths detected at compile-time available through mc_rtc/config.h. This further simplifies cmake/test logic as a bonus In addition, fix an issue in find_description_package that would cause duplicated share/jvrc1_description/share/jvrc1_description. It seems to be an odd edge-case of cmake's set(...) function with variable-of-variables
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This is an up-to-date version of #495 rebased on top of #462 and currently used for the experimental nixpkg packaging.
We either need to cherry-pick nix-related fixes on top of #495 or merge both aforementioned PR together ;)