.gitignore

+/build/*
+!/build/.gitkeep
+!.gitkeep
+!.gitignore
+.idea
+
+source/*/Test.h
+
+// ignore Aron files
+*.aron.generated.h
+
+*.bak
+*#
+.#*
+*~
+*.swp
+.*.kate-swp
+.*.swo
+*.pyc
+*.orig
+
+.DS_Store
+CMakeFiles
+CMakeCache.txt
+CMakeLists.txt.user*
+*.autosave
+*~
+
+*.o
+*.os
+*.a
+*.la
+*.lo
+*.so
+*.dylib
+moc_*
+
+# eclipse stuff
+.project
+.pydevproject
+.settings
+.metadata
+.cproject
+.project
+
+# MemoryX
+.cache
+mongod.log*
+data/db/
+data/dbdump/
+
+# Test files
+*.roundtriptest
+
+# Generated Scenario Files
+startScenario.sh
+stopScenario.sh
+ttyACM*.js
+ttyACM*.log
+datapath*.cfg
+
+*.icegrid.xml
+data/RobotAPI/logs
+
+worktree/
+
+etc/python/armarx.egg-info/
+etc/python/build/*
+etc/python/dist/*
+
+.cmake/api/v1/query/cache-v2
+.cmake/api/v1/query/codemodel-v2
+.cmake/api/v1/query/cmakeFiles-v1
+
+# ArViz Recordings
+data/RobotAPI/ArVizStorage/
+
+.vscode/
+.clang-format
+.clang-tidy

.gitlab-ci.yml

+stages:
+  - build-and-test
+  - deploy
+  - post-deploy-test
+
+
+.build-and-test:
+
+  cache:
+    # https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
+    key: one-key-to-rule-them-all
+    paths:
+      - .apt
+      - .ccache
+
+  before_script:
+    # Apt cache configuration.
+    - rm -rf /var/cache/apt/archives || true
+    - rm -f /etc/apt/apt.conf.d/docker-clean  # Remove docker-clean script to avoid cache deletion.
+    - mkdir .apt || true
+    - ln -s "$CI_PROJECT_DIR/.apt" /var/cache/apt/archives
+
+    # Update apt info.
+    - apt-get update
+
+    # Ccache configuration and introspection.
+    - apt-get install ccache --yes
+    - ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
+    - ccache --max-size=20G
+    - ccache --show-stats
+
+    # Activate Axii.
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+
+    # Use workspace configuration from project.
+    - cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
+    - cat "$ARMARX_WORKSPACE/armarx-workspace.json"
+
+    - axii workspace env
+    - _axii_auto_env_refresh
+
+    - echo "Workspace information:"
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+
+    - export PROJECT_MODULE="armarx/RobotAPI"
+    - export PROJECT_PATH_IN_WORKSPACE="$armarx__RobotAPI__PATH"
+
+    # Symlink project directory into Axii workspace.
+    - mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
+    - ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
+
+    # Fix "CMake Error in CMakeLists.txt: Imported target "VirtualRobot" includes non-existent path "/usr/lib/include"
+    # (caused by at least dmp)
+    - mkdir -p /usr/lib/include
+
+    # Upgrade.
+    - axii workspace system --accept-apt-install
+    - axii workspace update --prefer-https
+    - axii workspace upgrade -m "$PROJECT_MODULE"
+
+    - ccache --show-stats
+
+    # Test.
+    # ToDo: Add and use `axii ws test -m "$PROJECT_MODULE"`
+    - cd "$PROJECT_PATH_IN_WORKSPACE/build"
+    - ctest --output-on-failure --output-junit "$CI_PROJECT_DIR/report.xml" .
+
+  artifacts:
+    reports:
+      junit: report.xml
+
+
+build-and-test-bionic:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-bionic
+
+
+build-and-test-jammy:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-jammy
+
+
+docker-bionic:
+  stage: deploy
+  needs: ["build-and-test-bionic"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/bionic"
+      --destination "${CI_REGISTRY_IMAGE}:latest-bionic"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+docker-jammy:
+  stage: deploy
+  needs: ["build-and-test-jammy"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/jammy"
+      --destination "${CI_REGISTRY_IMAGE}:latest-jammy"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+.test-docker-image-common:
+
+  before_script:
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+    - printenv
+
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+    - echo "RobotAPI directory = '$RobotAPI_DIR'"
+
+    - which armarx
+    - which armarx-package
+
+    - armarx switch docker_test --ice-host 127.0.0.1 --ice-port 10000 --ice-default-host 127.0.0.1 --mongo-host 127.0.0.1 --mongo-port 10001
+    - armarx profile
+    - armarx status || true
+
+    - cd $ArmarXGui_DIR
+    - ctest --output-on-failure .
+
+
+test-docker-image-bionic:
+  stage: post-deploy-test
+  needs: ["docker-bionic"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-bionic
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+test-docker-image-jammy:
+  stage: post-deploy-test
+  needs: ["docker-jammy"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-jammy
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"

.gitlab/CODEOWNERS

+# ARON
+
+/source/RobotAPI/libraries/aron/ @peller @dreher
+
+/source/RobotAPI/interface/aron/ @peller @dreher
+/source/RobotAPI/interface/aron.ice @peller @dreher
+
+
+# ArMem
+/source/RobotAPI/components/armem/ @peller @kartmann @dreher
+
+/source/RobotAPI/libraries/armem/ @peller @kartmann @dreher
+/source/RobotAPI/libraries/armem_robot_localization/ @reister
+/source/RobotAPI/libraries/armem_robot_mapping/ @reister
+
+/source/RobotAPI/interface/armem/ @fratty @RainerKartmann @dreher
+/source/RobotAPI/interface/armem.ice @fratty @RainerKartmann @dreher
+

.gitlab/ci/armarx-workspace.json

+{
+  "modules": {
+    "tools/ccache/default": {},
+    "armarx/RobotAPI": {}
+  },
+  "global": {
+    "prepare": {
+      "cmake": {
+        "definitions": {
+          "CMAKE_BUILD_TYPE": "RelWithDebInfo",
+          "CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
+          "CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
+        }
+      }
+    }
+  }
+}

CMakeLists.txt

-# HumanoidRobotAPI
+# RobotAPI
+cmake_minimum_required(VERSION 3.10.2)
 
-cmake_minimum_required(VERSION 2.8)
-if (COMMAND cmake_policy)
-    if (POLICY CMP0011)
-        cmake_policy(SET CMP0011 NEW)
-    endif()
+if(POLICY CMP0043)
+    cmake_policy(SET CMP0043 OLD)
 endif()
 
 find_package("ArmarXCore" REQUIRED
-    PATHS "$ENV{HOME}/armarx/Core/build/cmake"
-        "$ENV{HOME}/armarx-install/share/cmake/ArmarXCore"
-        "/org/share/archive/SFB588_RefDist/armarx/share/cmake/ArmarXCore"
+    PATHS "$ENV{HOME}/armarx/Core/build"
 )
 
-include(${ArmarXCore_CMAKE_DIR}/ArmarXProject.cmake)
-
-armarx_project("HumanoidRobotAPI")
+include(${ArmarXCore_USE_FILE})
 
+set(ARMARX_ENABLE_DEPENDENCY_VERSION_CHECK_DEFAULT TRUE)
+set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
 
-add_subdirectory(core)
-add_subdirectory(motioncontrol)
-add_subdirectory(applications)
+armarx_project("RobotAPI")
+depends_on_armarx_package(ArmarXGui)
 
+find_package(DMP QUIET)
+find_package(OpenCV QUIET)
+find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+find_package(manif QUIET)
 
+add_subdirectory(source)
 
 install_project()
 
+add_subdirectory(scenarios)
+
+
+if (TRUE)
+    find_package(libmongocxx QUIET)
+    find_package(libbsoncxx QUIET)
+    if (NOT libbsoncxx_FOUND OR NOT libbsoncxx_FOUND)
+        string(ASCII 27 Esc)
+        set(BoldYellow  "${Esc}[1;33m")
+        set(ColourReset "${Esc}[m")
+
+        message(WARNING "${BoldYellow}\
+    The packages libbsoncxx or libbsoncxx not found. \
+    They are required to build the memory system (armem and related libraries). \
+    Please use this installation script to install libmongocxx and libbsoncxx:
+    cd ${PROJECT_SOURCE_DIR}/etc/mongocxx/ && ./install_mongocxx.sh ~/repos \
+    or run 'cmake -DCMAKE_PREFIX_PATH=$mongocxx_install_dir' if you have mongocxx already installed \
+    ${ColourReset}")
+    endif()
+endif()

README.md

+# RobotAPI
+
+[Online Documentation](https://armarx.humanoids.kit.edu/RobotAPI-Overview.html)

applications/CMakeLists.txt

-
-
-add_subdirectory(MotionControlTest)
-

applications/MotionControlTest/.goutputstream-4MXZKW

-
-armarx_component_set_name(MotionControlTest)
-
-set(COMPONENT_BUILD TRUE)
-
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-armarx_build_if(COMPONENT_BUILD "component disabled")
-
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
-
-if (ARMARX_BUILD)
-    set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
-
-    set(SOURCES "")
-    set(HEADERS MotionControlTestApp.h)
-
-    armarx_component_add_executable("${SOURCES}" "${HEADERS}")
-
-endif()

applications/MotionControlTest/.goutputstream-ABGNKW

-
-armarx_component_set_name(MotionControlTest)
-
-set(COMPONENT_BUILD TRUE)
-
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-armarx_build_if(COMPONENT_BUILD "component disabled")
-
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
-
-if (ARMARX_BUILD)
-    set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
-
-    set(SOURCES "")
-    set(HEADERS MotionControlTestApp.h)
-
-    armarx_component_add_executable("${SOURCES}" "${HEADERS}")
-
-endif()

applications/MotionControlTest/CMakeLists.txt

-
-armarx_component_set_name(MotionControlTest)
-
-set(COMPONENT_BUILD TRUE)
-
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-armarx_build_if(COMPONENT_BUILD "component disabled")
-
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
-
-if (ARMARX_BUILD)
-    set(COMPONENT_LIBS MotionControl HumanoidRobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
-
-    set(SOURCES "")
-    set(HEADERS MotionControlTestApp.h)
-
-    armarx_component_add_executable("${SOURCES}" "${HEADERS}")
-
-endif()

core/CMakeLists.txt

-armarx_set_target("HumanoidRobotAPI Core Library: HumanoidRobotAPICore")
-
-
-find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (ARMARX_BUILD)
-    include_directories(${Eigen3_INCLUDE_DIR})
-    include_directories(${VirtualRobot_INCLUDE_DIRS})
-
-    set(LIB_NAME       HumanoidRobotAPICore)
-    set(LIB_VERSION    0.1.0)
-    set(LIB_SOVERSION  0)
-
-    set(LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent)
-
-    set(LIB_FILES RobotStatechartContext.cpp)
-    set(LIB_HEADERS RobotStatechartContext.h)
-
-    include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../..)
-    use_ice()
-
-    add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
-
-    library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
-    target_link_ice(${LIB_NAME})
-    target_link_libraries(${LIB_NAME} ${LIBS})
-
-
-
-endif()
-

core/RobotStatechartContext.cpp

-/**
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU Lesser General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package    Armar4::api
-* @author     Nikolaus Vahrenkamp
-* @date       2012 Nikolaus Vahrenkamp
-* @copyright  http://www.gnu.org/licenses/gpl.txt
-*             GNU General Public License
-*/
-
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/Statechart.h>
-#include <Core/robotstate/remote/RemoteRobot.h>
-#include <Core/robotstate/remote/ArmarPose.h>
-#include <Core/robotstate/RobotStateObjectFactories.h>
-
-
-//#include <VirtualRobot/VirtualRobot.h>
-
-#include "RobotStatechartContext.h"
-
-namespace armarx
-{
-    // ****************************************************************
-    // Implementation of Component
-    // ****************************************************************
-    void RobotStatechartContext::onInitComponent()
-    {
-        StatechartContext::onInitComponent();
-        ARMARX_LOG << eINFO << "Init Armar4Context" << flush;
-
-        RobotStateObjectFactories::addFactories(getIceManager()->getCommunicator());
-        kinematicUnitObserverName = getProperty<std::string>("KinematicUnitObserverName").getValue();
-
-
-        usingProxy("RobotStateComponent");
-        usingProxy(kinematicUnitObserverName);
-    }
-
-
-    void RobotStatechartContext::onConnectComponent()
-    {
-        StatechartContext::onConnectComponent();
-        ARMARX_LOG << eINFO << "Starting Armar4Context" << flush;
-
-        // retrieve proxies
-        robotStateComponent = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
-        kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
-        kinematicUnitObserverPrx = getProxy<KinematicUnitObserverInterfacePrx>(kinematicUnitObserverName);
-        ARMARX_LOG << eINFO << "Fetched proxies" <<  kinematicUnitPrx << " " << robotStateComponent << flush;
-
-		// initialize remote robot	
-        remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
-        ARMARX_LOG << eINFO << "Created remote robot" << flush;
-    }
-
-    PropertyDefinitionsPtr RobotStatechartContext::createPropertyDefinitions()
-    {
-        return PropertyDefinitionsPtr(new RobotStatechartContextProperties(
-                                               getConfigIdentifier()));
-    }
-
-   /* const VirtualRobot::RobotPtr armarx::Armar4Context::getRobot()
-    {
-        return remoteRobot;
-    }*/
-
-}
-

data/.gitkeep

+Git can only track files and not directory.
+
+Therefore this file is added to all empty directories
+which need to be available after a Git clone.

data/RobotAPI/ArMemStorage/README

+This is the default folder where ArMem stores episodes

data/RobotAPI/ArVizStorage/README

+This is the default folder where ArViz stores recordings

data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json

+[{
+  "name": "guard_frame_right",
+  "posX": 3100,
+  "posY": 2330,
+  "yaw": 0.0,
+  "axisLengthX": 170,
+  "axisLengthY": 600,
+  "refPosX": 3170,
+  "refPosY": 2320,
+  "safetyMarginX": 300,
+  "safetyMarginY": 300
+},{
+"name": "guard_corner_fix",
+  "posX": 3670,
+  "posY": 2780,
+  "yaw": 0.0,
+  "axisLengthX": 100,
+  "axisLengthY": 150,
+  "refPosX": 3170,
+  "refPosY": 2320,
+  "safetyMarginX": 300,
+  "safetyMarginY": 300
+},{
+  "name": "ctrl_table",
+  "posX": 4400,
+  "posY": 2000,
+  "yaw": 0.0,
+  "axisLengthX": 1500,
+  "axisLengthY": 150,
+  "refPosX": 3170,
+  "refPosY": 2000,
+  "safetyMarginX": 200,
+  "safetyMarginY": 400
+},{
+  "name": "guard_frame_left",
+  "posX": 700,
+  "posY": 2380,
+  "yaw": 0.0,
+  "axisLengthX": 200,
+  "axisLengthY": 650,
+  "refPosX": 500,
+  "refPosY": 2380,
+  "safetyMarginX": 400,
+  "safetyMarginY": 400
+},{
+  "name": "guard_stander",
+  "posX": 305,
+  "posY": 6680,
+  "yaw": -0.23,
+  "axisLengthX": 700,
+  "axisLengthY": 200,
+  "refPosX": 305,
+  "refPosY": 6680,
+  "safetyMarginX": 400,
+  "safetyMarginY": 400
+},{
+  "name": "table_left",
+  "posX": 3700,
+  "posY": 4700,
+  "yaw": 0.75,
+  "axisLengthX": 550,
+  "axisLengthY": 300,
+  "refPosX": 4200,
+  "refPosY": 4900,
+  "safetyMarginX": 300,
+  "safetyMarginY": 300
+},{
+  "name": "table_right",
+  "posX": 4600,
+  "posY": 4700,
+  "yaw": -0.75,
+  "axisLengthX": 550,
+  "axisLengthY": 300,
+  "refPosX": 4200,
+  "refPosY": 4900,
+    "safetyMarginX": 400,
+  "safetyMarginY": 400
+},{
+  "name": "table_corner",
+  "posX": 3400,
+  "posY": 4750,
+  "yaw": 0,
+  "axisLengthX": 800,
+  "axisLengthY": 650,
+  "refPosX": 3400,
+  "refPosY": 5216,
+  "safetyMarginX": 300,
+  "safetyMarginY": 300
+}
+]