Halodi-messages

This repository contains custom ROS2/IDL messages from Halodi Robotics. These form the main API for the Halodi controller.

API Quickstart

API Quickstart Guide

Using with ROS2

This repository contains the halodi_msgs ROS2 package. Checkout this repository in the 'src/' folder of your ROS2 workspace to compile.

For information to setup the halodi-controller in simulation, go to halodi-controller.

Using with IHMC ROS2 Libraries

This repository builds against the IHMC ROS2 libraries and generates compatible Java files.

Adding as dependency

To add this as a dependency to your Java project, add the following to your build.gradle

repositories {
    mavenCentral()
    maven { url "http://dl.bintray.com/ihmcrobotics/maven-release" }
    maven { url "http://dl.bintray.com/halodirobotics/maven-release" }
    mavenLocal()
}

dependencies {
    compile group: "us.ihmc", name: "euclid-geometry", version: "0.12.0"
    compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.10.3"
    compile group: "us.ihmc", name: "ros2-common-interfaces", version: "0.13.4"
    compile group: "com.halodi", name: "halodi-messages", version: "0.0.2"
}

Increasing version number

Before building and publishing the Java and C# libraries, increase the version in the following files

• build.gradle
• halodi-messages-unity-support/Packages/halodi-messages/package.json

Building and publishing Java libraries

To compile and publishing to your local maven repository, run

rm -r build
gradle jar
gradle publishToMavenLocal -PartifactVersion=[version] -PenvironmentName=release

To upload snapshot to artifacts.halodi.com:

ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish

To upload release to artifacts.halodi.com:

ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish -PenvironmentName=production

Building and publishing C#/Unity libraries

First, publish the Java library. This regenerates the C# messages.

After that, open the Unity project halodi-messages-unity-support in Unity. Go to Packages -> Manage packages in project and select Publish.