Add HDE profile to superbuild #231

kouroshD · 2019-08-01T08:24:58Z

With this PR, We add the HDE Profile to superbuild.
Relevant issue:
robotology/human-dynamics-estimation#120

CMakeLists.txt

README.md

traversaro · 2019-08-02T13:15:35Z

README.md

@@ -636,6 +654,27 @@ To check and install the Cyberith SDK, please follow the steps for Cyberith SDK
 ### Configuration
 To configure the Cyberith SDK please follow the steps for Cyberith SDK mentioned in [here](https://github.com/robotology/walking-teleoperation/blob/master/docs/Dependencies.md).

+## Xsens
+Support for this dependency is enabled by the `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` CMake option.


I would invert the causality, I would document that the option ROBOTOLOGY_USES_XSENS_MVN_SDK option is only enabled when the ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS CMake option is set to ON.

What I wrote and what you said to me is equal! If you prefer, I can rephrase it as you mentioned.

Yes, indeed I see what you mean. As long as we have the ROBOTOLOGY_USES_XSENS_MVN_SDK I am ok with what you wrote.

README.md

cmake/Buildforcetorque-yarp-devices.cmake

cmake/Buildwearables.cmake

README.md

Co-Authored-By: Silvio Traversaro <pegua1@gmail.com>

README.md

cmake/Buildhuman-gazebo.cmake

CMakeLists.txt

Co-Authored-By: Silvio Traversaro <pegua1@gmail.com>

cmake/Buildhuman-dynamics-estimation.cmake

Co-Authored-By: Silvio Traversaro <pegua1@gmail.com>

traversaro

Beside minor comments the logic is now ok, thanks. I guess we need to wait for the (at least partial merge) of robotology/wearables#25 . @Yeshasvitvs @lrapetti any update?

CMakeLists.txt

Co-Authored-By: Silvio Traversaro <pegua1@gmail.com>

kouroshD · 2019-08-07T13:19:03Z

Beside minor comments the logic is now ok, thanks. I guess we need to wait for the (at least partial merge) of robotology/wearables#25 . @Yeshasvitvs @lrapetti any update?

I will update the README.md, and also test it again on windows machine, and a mac or Ubuntu machine, to check everything is fine.

kouroshD · 2019-08-08T16:38:46Z

when I enable the human-dynamics profile, and I enable the options ROBOTOLOGY_USES_XSENS_MVN_SDK and ROBOTOLOGY_USES_ESDCAN It throws error since it cannot find them. So, maybe we enable these options only if we are in Windows? What do you say @traversaro ?

Ok for disabling on macOS/Linux the options that do not work/will never work on that OS (but we should also document them in the README). To be honest, in the past I never explicitly removed those options, because I simply assume users would not select them.

OK, then we only will mention it in documentations.

If I build the superbuild with -j option, because this line https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/CMakeLists.txt#L29 in HDE is commented it throws error some times, I suggest to uncomment it @lrapetti @traversaro @Yeshasvitvs ?

I am a bit confused on how that lines is related to multithreading.

It throws here in this line, https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/devices/HumanStateProvider/IKWorkerPool.h#L28, complaining about Eigen/QR library. If I do it only with make without -j option, it will build without any problem, or if do make -j two times it will build in the second attempt! I enabled the line I mentioned and it is working fine, so we are sure it finds the library since there is dependency to it.

HumanIKWorkerPool.h:28:10: fatal error: 'Eigen/QR' file not
      found
#include <Eigen/QR>

if I enable the socketCan option in macOS I have the following error:

Which option of the superbuild (or the subproject) did you enabled precisly?

Since, you and @fjandrad said, ft sensors in linux handled by socketCan, I enabled that option in ICUB repo. but then it was complaining that cannot find it. I am using macOS!

traversaro · 2019-08-08T19:59:39Z

Since, you and @fjandrad said, ft sensors in linux handled by socketCan, I enabled that option in ICUB repo.

So you enabled the ENABLE_socketcan option? That option uses the SocketCAN API ( https://www.kernel.org/doc/Documentation/networking/can.txt ) that is the API of the Linux kernel, so it is not supported at all by macOs . As far as I know, there is no YARP device for accessing CAN devices on macOs (I do not even know if there is CAN support at all in macOs, to be honest).

traversaro · 2019-08-09T06:52:03Z

I enabled the line I mentioned and it is working fine, so we are sure it finds the library since there is dependency to it.

Indeed, I am not sure how that is related to make -j, but indeed the find_package(Eigen3 REQUIRED) is missing. Probably it is working on the second run because EIGEN3_INCLUDE_DIR is cached, and find_package(Eigen3) is called in some directory added after the HumanStateProvider one.

kouroshD · 2019-08-09T06:55:56Z

Since, you and @fjandrad said, ft sensors in linux handled by socketCan, I enabled that option in ICUB repo.

So you enabled the ENABLE_socketcan option? That option uses the SocketCAN API ( https://www.kernel.org/doc/Documentation/networking/can.txt ) that is the API of the Linux kernel, so it is not supported at all by macOs . As far as I know, there is no YARP device for accessing CAN devices on macOs (I do not even know if there is CAN support at all in macOs, to be honest).

Indeed, you are right, in the error was mentioning #include <linux/can.h> is missing.

kouroshD · 2019-08-09T06:57:29Z

I enabled the line I mentioned and it is working fine, so we are sure it finds the library since there is dependency to it.

Indeed, I am not sure how that is related to make -j, but indeed the find_package(Eigen3 REQUIRED) is missing. Probably it is working on the second run because EIGEN3_INCLUDE_DIR is cached, and find_package(Eigen3) is called in some directory added after the HumanStateProvider one.

yes, I think that is the case you are mentioning.

kouroshD · 2019-08-09T07:01:19Z

Since, you and @fjandrad said, ft sensors in linux handled by socketCan, I enabled that option in ICUB repo.

So you enabled the ENABLE_socketcan option? That option uses the SocketCAN API ( https://www.kernel.org/doc/Documentation/networking/can.txt ) that is the API of the Linux kernel, so it is not supported at all by macOs . As far as I know, there is no YARP device for accessing CAN devices on macOs (I do not even know if there is CAN support at all in macOs, to be honest).

Thanks for the documentation link, it was interesting.

kouroshD · 2019-08-09T08:30:59Z

@traversaro I updated the README.

kouroshD · 2019-08-09T08:58:14Z

I enabled the line I mentioned and it is working fine, so we are sure it finds the library since there is dependency to it.

Indeed, I am not sure how that is related to make -j, but indeed the find_package(Eigen3 REQUIRED) is missing. Probably it is working on the second run because EIGEN3_INCLUDE_DIR is cached, and find_package(Eigen3) is called in some directory added after the HumanStateProvider one.

maybe this option can be added after this line instead: https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/devices/HumanStateProvider/CMakeLists.txt#L6

kouroshD · 2019-08-09T09:00:39Z

I enabled the line I mentioned and it is working fine, so we are sure it finds the library since there is dependency to it.

Indeed, I am not sure how that is related to make -j, but indeed the find_package(Eigen3 REQUIRED) is missing. Probably it is working on the second run because EIGEN3_INCLUDE_DIR is cached, and find_package(Eigen3) is called in some directory added after the HumanStateProvider one.

maybe this option can be added after this line instead: https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/devices/HumanStateProvider/CMakeLists.txt#L6

since it is a very small change, can we add it without PR to HDE repo? @traversaro @lrapetti @Yeshasvitvs

lrapetti · 2019-08-13T07:59:45Z

maybe this option can be added after this line instead: https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/devices/HumanStateProvider/CMakeLists.txt#L6

since it is a very small change, can we add it without PR to HDE repo? @traversaro @lrapetti @Yeshasvitvs

@kouroshD, I think you can open a PR and ping me so that I can approve it as soon as the PR is there. In this way, we can track the changes properly.

traversaro · 2019-08-13T08:18:23Z

since it is a very small change, can we add it without PR to HDE repo? @traversaro @lrapetti @Yeshasvitvs

That is up to the HDE mantainers. : )
What I tipically do for such small changes is to do directly from the GitHub web interface, in that way creating a PR is tipically a matter of few seconds.

traversaro · 2019-08-13T08:25:57Z

CMakeLists.txt

@@ -150,6 +157,17 @@ if(ROBOTOLOGY_ENABLE_TELEOPERATION)
  find_or_build_package(walking-teleoperation)
 endif()

+# Human Dynamics Estimation
+if(ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS)
+  set(ROBOTOLOGY_ENABLE_ICUB_HEAD TRUE)


I am not sure if we already discussed during the review, but the idea behind profiles is that they are completly independent, and if a user need to set ROBOTOLOGY_ENABLE_ICUB_HEAD to TRUE on a given machine (for example because he need to connect to iCub CAN devices) he/she can do it manualy. If instead any project in ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS depends for compilation on a given project/option, this should be added as all the other dependencies.

There is not the compile-time dependency. What if we set ROBOTOLOGY_ENABLE_ICUB_HEAD to TRUE and find_or_build_package(forcetorque-yarp-devices), if ROBOTOLOGY_USES_ESDCAN is TRUE? Since with this option the user is indicating, he/she wants to use FT sensors.

@traversaro

traversaro · 2019-08-13T08:27:06Z

README.md

@@ -62,6 +65,7 @@ Note that any dependencies of the included packages that is not available in the
 | `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers). [`icub-gazebo-wholebody`](https://github.com/robotology-playground/icub-gazebo-wholebody) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
 | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_TELEOPERATION` | The robotology software packages related to teleoperation. | [`walking-teleoperation`](https://github.com/robotology/walking-teleoperation). To use Oculus or Cyberith Omnidirectional Treadmill enable `ROBOTOLOGY_USES_OCULUS_SDK` and `ROBOTOLOGY_USES_CYBERITH_SDK` options. | `OFF` | [Documentation on teleoperation profile.](#teleoperation)  |
+| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`wearables`](https://github.com/robotology/wearables). `ROBOTOLOGY_ENABLE_ICUB_HEAD`, `ROBOTOLOGY_USES_XSENS_MVN_SDK`, and `ROBOTOLOGY_USES_ESDCAN`, [`forcetorque-yarp-devices`](https://github.com/robotology/forcetorque-yarp-devices) if using a Windows OS. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics)  |


I would remove references of the optional dependencies from this table, as this column just lists the main repositories included in this component, and I am afraid that mentioning options here would be confusing for users:

Suggested change

| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`wearables`](https://github.com/robotology/wearables). `ROBOTOLOGY_ENABLE_ICUB_HEAD`, `ROBOTOLOGY_USES_XSENS_MVN_SDK`, and `ROBOTOLOGY_USES_ESDCAN`, [`forcetorque-yarp-devices`](https://github.com/robotology/forcetorque-yarp-devices) if using a Windows OS. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics) |

| `ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS` | The robotology software packages related to human dynamics estimation. | [`human-dynamics-estimation`](https://github.com/robotology/human-dynamics-estimation), [`wearables`](https://github.com/robotology/wearables). [`forcetorque-yarp-devices`](https://github.com/robotology/forcetorque-yarp-devices) if using a Windows OS. | `OFF` | [Documentation on human dynamics profile.](#human-dynamics) |

I accept that ROBOTOLOGY_ENABLE_ICUB_HEAD should be removed. But similar to other profiles, the options enabled to the user by ROBOTOLOGY_ENABLE_HUMAN_DYNAMICS should be stated here.

@traversaro

traversaro · 2019-08-13T08:29:15Z

Unfortunately, this PR is still blocked by (at least a partial merge) of robotology/wearables#25 . @Yeshasvitvs @lrapetti Do you have any update?

lrapetti · 2019-08-13T08:47:51Z

Unfortunately, this PR is still blocked by (at least a partial merge) of robotology/wearables#25 . @Yeshasvitvs @lrapetti Do you have any update?

I am checking if everyone agrees I would proceed with merging.

lrapetti · 2019-08-13T12:10:00Z

Unfortunately, this PR is still blocked by (at least a partial merge) of robotology/wearables#25 . @Yeshasvitvs @lrapetti Do you have any update?

I am checking if everyone agrees I would proceed with merging.

The PR has been merged

kouroshD · 2019-08-16T09:06:20Z

maybe this option can be added after this line instead: https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/devices/HumanStateProvider/CMakeLists.txt#L6

since it is a very small change, can we add it without PR to HDE repo? @traversaro @lrapetti @Yeshasvitvs

@kouroshD, I think you can open a PR and ping me so that I can approve it as soon as the PR is there. In this way, we can track the changes properly.

PR is made here:
robotology/human-dynamics-estimation#139

lrapetti · 2019-08-16T13:44:33Z

maybe this option can be added after this line instead: https://github.com/robotology/human-dynamics-estimation/blob/0a7b4be41ba379ed0ff391d62db93b4018512133/devices/HumanStateProvider/CMakeLists.txt#L6

since it is a very small change, can we add it without PR to HDE repo? @traversaro @lrapetti @Yeshasvitvs

@kouroshD, I think you can open a PR and ping me so that I can approve it as soon as the PR is there. In this way, we can track the changes properly.

PR is made here:
robotology/human-dynamics-estimation#139

Merged.

traversaro · 2019-08-19T13:43:01Z

I will proceed with "Squash and merge" if for you it is ok.

kouroshD · 2019-08-19T13:50:27Z

I will proceed with "Squash and merge" if for you it is ok.

Thanks, please proceed with that.

kouroshD added 13 commits July 29, 2019 12:19

Add HDE profile to ReadMe

17ec3e8

Update README.md

b7fa3e9

Add HDE option to super-build

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supdate HDE option to superbuild

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Update README.md

2685f86

Update README.md

d9de7e8

Update HDE Maintainer

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add the dependency of HDE to wearable

438afb6

update wearables git address

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add human-gazebo repo

9672361

fix the dependencies of human-gazebo

b2fe192

fix the problems with windows installation

f1eae2d

update README

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kouroshD mentioned this pull request Aug 1, 2019

Integrating HDE-related repositories in the robotology-superbuild robotology/human-dynamics-estimation#120

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fix HumanStateProvider dependency to Eigen3 robotology/human-dynamics-estimation#139

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update the dependencies of human-dynamics profile.

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Document that ROBOTOLOGY_ENABLE_ICUB_HEAD is supported also on Windows #236

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kouroshD added a commit to ami-iit/robotology-superbuild-this-is-not-the-repo-you-should-download-you-should-use-the-robotology-one that referenced this pull request Aug 27, 2019

Add Human Dynamics profile to superbuild (robotology#231)

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Enable compilation of Human Dynamics component in Continuous Integration #302

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Add ROBOTOLOGY_USES_ESDCAN option #205

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