From badfb3a04a08cd5bfdf992e78cbaaedf42e1ddec Mon Sep 17 00:00:00 2001 From: mhubii Date: Sat, 7 Sep 2024 18:11:12 +0200 Subject: [PATCH 1/2] pyfri infrastructure changes --- .readthedocs.yml | 4 + LICENSE | 222 ++++++++++++++++++++++++++++++++---- README.md | 64 ++++++----- doc/source/conf.py | 2 +- doc/source/contributing.rst | 2 +- paper/paper.md | 4 +- 6 files changed, 244 insertions(+), 54 deletions(-) diff --git a/.readthedocs.yml b/.readthedocs.yml index 49c8507..27c9991 100644 --- a/.readthedocs.yml +++ b/.readthedocs.yml @@ -12,8 +12,12 @@ build: - graphviz jobs: post_install: + # clone lbr_fri_ros2_stack, lbr_fri_idl, and fri through git via vcs - vcs import doc/source --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-1.15.yaml + # unzip FRI-Client-SDK_Cpp.zip - unzip doc/source/fri/FRI-Client-SDK_Cpp.zip -d doc/source/fri/FRI-Client-SDK_Cpp + # clone pyfri (non-recursive, i.e. skip pybind11 and fri) + - git clone https://github.com/lbr-stack/pyfri.git doc/source/pyfri python: install: diff --git a/LICENSE b/LICENSE index ba78d0d..261eeb9 100644 --- a/LICENSE +++ b/LICENSE @@ -1,21 +1,201 @@ -MIT License - -Copyright (c) 2023 Martin Huber - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index d9dc3ed..48f6310 100644 --- a/README.md +++ b/README.md @@ -7,50 +7,56 @@ This repository holds the documentation for the [lbr-stack](https://github.com/l To build locally: 1. Clone this repository -```shell -git clone --recursive git@github.com:lbr-stack/lbr_stack_doc.git -cd lbr_stack_doc -``` + ```shell + git clone --recursive git@github.com:lbr-stack/lbr_stack_doc.git + cd lbr_stack_doc + ``` 2. Create a virtual environment -```shell -python3 -m venv ./lbr_stack_doc_venv -source lbr_stack_doc_venv/bin/activate -``` + ```shell + python3 -m venv ./lbr_stack_doc_venv + source lbr_stack_doc_venv/bin/activate + ``` 3. Install dependencies -```shell -pip3 install -r requirements.txt -``` + ```shell + pip3 install -r requirements.txt + ``` 4. Clone the `lbr_fri_ros2_stack`, e.g. via (this uses [vcs](https://github.com/dirk-thomas/vcstool#how-to-install-vcstool)) -```shell -wget https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-1.15.yaml -vcs import doc/source < repos-fri-1.15.yaml -``` + ```shell + wget https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-1.15.yaml + vcs import doc/source < repos-fri-1.15.yaml + ``` -5. In [conf.py](doc/source/conf.py) change +5. Clone `pyfri` -```python -f"doxysphinx build . $READTHEDOCS_OUTPUT/html {doxyfile}", shell=True -``` + ```shell + git clone https://github.com/lbr-stack/pyfri.git doc/source/pyfri + ``` -to +6. In [conf.py](doc/source/conf.py) change -```python -f"doxysphinx build . html {doxyfile}", shell=True -``` + ```python + f"doxysphinx build . $READTHEDOCS_OUTPUT/html {doxyfile}", shell=True + ``` -Next, go to [doc/source](doc/source/) and run + to -```shell -python3 -m sphinx -T -E -b html -d _build/doctrees -D language=en . html -``` + ```python + f"doxysphinx build . html {doxyfile}", shell=True + ``` + +7. Finally, go to [doc/source](doc/source/) and run + + ```shell + python3 -m sphinx -T -E -b html -d _build/doctrees -D language=en . html + ``` -Open and browse the documentation by opening `doc/source/html/index.html`. +8. Open and browse the documentation by opening `doc/source/html/index.html`. ## Build Paper Locally To build the [paper](paper/paper.md) via [Docker](https://joss.readthedocs.io/en/latest/submitting.html#docker), run @@ -67,7 +73,7 @@ docker run --rm -it \ inside the `lbr_stack_doc` repository. ## Citation -If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could cite it, as it helps us to continue offering support. +If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could leave a ⭐ and / or cite it, as it helps us to continue offering support. ``` @misc{huber2023lbrstack, diff --git a/doc/source/conf.py b/doc/source/conf.py index 3290f54..2c6139e 100644 --- a/doc/source/conf.py +++ b/doc/source/conf.py @@ -32,7 +32,7 @@ project = "LBR-Stack" copyright = "2023, mhubii" author = "mhubii" -release = "1.4.3" +release = "2.0.0" # -- General configuration --------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration diff --git a/doc/source/contributing.rst b/doc/source/contributing.rst index d9f79ac..eef30cc 100644 --- a/doc/source/contributing.rst +++ b/doc/source/contributing.rst @@ -5,5 +5,5 @@ If you wish to contribute to any of the projects, please refer to the guidelines - `lbr_fri_ros2_stack `_:octicon:`link-external` - `lbr_fri_idl `_:octicon:`link-external` - `fri `_:octicon:`link-external` -- `pyFRI `_:octicon:`link-external` +- `pyfri `_:octicon:`link-external` - `lbr_stack_doc `_:octicon:`link-external` diff --git a/paper/paper.md b/paper/paper.md index fc1da81..c001af1 100644 --- a/paper/paper.md +++ b/paper/paper.md @@ -50,7 +50,7 @@ At the `LBR-Stack`'s core is the following package: All other packages are built on top. These include Python bindings and packages for integration into the Robot Operating System (ROS) and ROS 2: - - **pyFRI**: Python bindings for the **fri**. + - **pyfri**: Python bindings for the **fri**. - **lbr_fri_ros2_stack**: ROS 1/2 integration of the `KUKA LBR`s through the **fri**. For brevity, and due to the architectural advantages over ROS [@ros2], only ROS 2 is considered in the following. The **lbr_fri_ros2_stack** comprises the following packages: @@ -85,7 +85,7 @@ Limitations with the current FRI solutions are: The first original contribution of this work is to add support for the `KUKA LBR Med 7/14` robots, which, to the best author's knowledge, does not exist in any other work. The second novel contribution of this work is to provide Python bindings. This work solves the support for multiple FRI versions by treating the FRI library as an externally provided library by separating it into the **fri** package, which leaves the FRI's source code untouched and simply provides build support. The partial support for the FRI functionality is solved by defining an IDL message to KUKA's `nanopb` command and state protocol buffers in **lbr_fri_idl**. These messages can then be interfaced from ROS 1/2 topics via simple controllers or from the ROS 1/2 hardware abstraction layer. -| Framework | IIWA | Med | ROS | ROS 2 | RT | FRI | pyFRI | Pos | Imp | Cart Imp | HW IF | +| Framework | IIWA | Med | ROS | ROS 2 | RT | FRI | pyfri | Pos | Imp | Cart Imp | HW IF | | --------------- | ---- |---- | --- | ------ | -- | --- | ----- | --- | --- | -------- | ------ | | [lbr-stack](https://github.com/lbr-stack) | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | $\bullet$ | | [iiwa_ros](https://github.com/epfl-lasa/iiwa_ros) | $\bullet$ | | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | $\bullet$ | | $\bullet$ | From 432ac2a40d59d2e6f102e287c6f8cbde0ea146ae Mon Sep 17 00:00:00 2001 From: mhubii Date: Sun, 8 Sep 2024 14:43:34 +0200 Subject: [PATCH 2/2] updated landing page --- doc/img/fri_dependency_architecture.svg | 4 +++ doc/source/changelog.rst | 6 ++++ doc/source/index.rst | 40 ++++++++++++++++------ doc/source/source_code.rst | 8 +++++ paper/img/fri_dependency_architecture.pdf | Bin 44004 -> 45549 bytes 5 files changed, 48 insertions(+), 10 deletions(-) create mode 100644 doc/img/fri_dependency_architecture.svg create mode 100644 doc/source/changelog.rst create mode 100644 doc/source/source_code.rst diff --git a/doc/img/fri_dependency_architecture.svg b/doc/img/fri_dependency_architecture.svg new file mode 100644 index 0000000..86fc44e --- /dev/null +++ b/doc/img/fri_dependency_architecture.svg @@ -0,0 +1,4 @@ + + + +
fri
FRI CMake target with branches corresponding to versions
External CMake Project
pyfri
FRI Python bindings
vcstool
vcstool
lbr_fri_ros2_stack
ROS 2 integration: ros2_control, MoveIt 2, Gazebo
lbr_fri_idl
Versioned IDL messages as these depend on the FRI version
 \ No newline at end of file diff --git a/doc/source/changelog.rst b/doc/source/changelog.rst new file mode 100644 index 0000000..4bd76bb --- /dev/null +++ b/doc/source/changelog.rst @@ -0,0 +1,6 @@ +Changelog +========= +Changelog for the corresponding packages: + +- ``lbr_fri_ros2_stack``: `Changelog `_:octicon:`link-external` +- ``pyfri``: `Changlelog `_:octicon:`link-external` diff --git a/doc/source/index.rst b/doc/source/index.rst index 134d174..e5d2bf5 100644 --- a/doc/source/index.rst +++ b/doc/source/index.rst @@ -1,14 +1,29 @@ -.. lbr_fri_ros2_stack documentation master file, created by - sphinx-quickstart on Mon Apr 24 11:26:22 2023. - You can adapt this file completely to your liking, but it should at least - contain the root `toctree` directive. +LBR-Stack +========= +The ``LBR-Stack`` hosts community contributed extensions to KUKA's Fast Robot Interface (FRI) for accelerated research and deployment. The FRI is KUKA's library for commanding the ``LBR`` over a UDP connection. -.. include:: lbr_fri_ros2_stack/README.md - :parser: myst_parser.sphinx_ +The ``LBR-Stack`` provides ``CMake`` support for the FRI. This is further used for ``ROS 2`` integration and ``Python`` bindings, as shown :ref:`below `: + +.. _lbr_stack fri dependency architecture figure: +.. thumbnail:: ../img/fri_dependency_architecture.svg + :alt: fri_dependency_architecture + +Further documentation is available for: + +* `FRI CMake Support `_: To see available FRI versions. +* `ROS 2 Integration `_: ROS 2 packages around the FRI and the LBR (simulation, system integration, safe execution utilities, research, deployment). +* `Python Bindings `_: Write custom FRI applications without compilation (reserach, experienced users). +* :doc:`Hardware Setup `: Java application installation instructions. + +.. toctree:: + :hidden: + :caption: FRI CMake Support + + fri .. toctree:: :hidden: - :caption: Packages + :caption: ROS 2 Integration lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack lbr_fri_ros2_stack/lbr_bringup/doc/lbr_bringup @@ -18,7 +33,12 @@ lbr_fri_ros2_stack/docker/doc/docker lbr_fri_ros2_stack/lbr_moveit_config/doc/lbr_moveit_config lbr_fri_idl - fri + +.. toctree:: + :hidden: + :caption: Python Bindings + + pyfri/doc/pyfri .. toctree:: :hidden: @@ -34,5 +54,5 @@ docs/kuka_documentation Paper contributing - Source Code - Changelog + source_code + changelog diff --git a/doc/source/source_code.rst b/doc/source/source_code.rst new file mode 100644 index 0000000..c859bb2 --- /dev/null +++ b/doc/source/source_code.rst @@ -0,0 +1,8 @@ +Source Code +=========== +Source code for the corresponding packages: + +- ``fri``: `Source code `_:octicon:`link-external` +- ``lbr_fri_ros2_stack``: `Source code `_:octicon:`link-external` +- ``lbr_fri_idl``: `Source code `_:octicon:`link-external` +- ``pyfri``: `Source code `_:octicon:`link-external` diff --git a/paper/img/fri_dependency_architecture.pdf b/paper/img/fri_dependency_architecture.pdf index 41d0ed0bc89629135c8b9331da1881e692f61143..41743b078bbaac342ac4d79416aed4444585080c 100644 GIT binary patch delta 21164 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