remove "CONTROLLER_INTERFACE_PUBLIC"
This commit is contained in:
Huang Zhenbiao
parent
7ed46994e4
commit
e3f518eb12
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@ -55,7 +55,7 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg
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cd ~/ros2_ws
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colcon build --packages-up-to hardware_unitree_mujoco
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```
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* Launch the unitree mujoco go2 simulation
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* Follow the guide in [unitree_mujoco](https://github.com/legubiao/unitree_mujoco) to launch the unitree mujoco go2 simulation
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* Launch the ros2-control
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```bash
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source ~/ros2_ws/install/setup.bash
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@ -38,6 +38,7 @@ Required hardware interfaces:
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## 2. Build
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### 2.1 Build Dependencies
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Before install OCS2 ROS2, please follow the guide to install [Pinocchio](https://stack-of-tasks.github.io/pinocchio/download.html), don't use the pinocchio install by rosdep!
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* OCS2 ROS2 Libraries
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```bash
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@ -15,6 +15,7 @@
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<depend>control_input_msgs</depend>
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<depend>qpoases_colcon</depend>
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<depend>ocs2_self_collision</depend>
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<depend>ocs2_legged_robot_ros</depend>
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<depend>angles</depend>
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<test_depend>ament_lint_auto</test_depend>
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@ -19,43 +19,34 @@
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namespace ocs2::legged_robot {
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class Ocs2QuadrupedController final : public controller_interface::ControllerInterface {
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public:
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CONTROLLER_INTERFACE_PUBLIC
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Ocs2QuadrupedController() = default;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::return_type update(
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const rclcpp::Time &time, const rclcpp::Duration &period) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_init() override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_deactivate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_cleanup(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_shutdown(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_error(
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const rclcpp_lifecycle::State &previous_state) override;
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@ -24,43 +24,32 @@ namespace rl_quadruped_controller {
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class LeggedGymController final : public controller_interface::ControllerInterface {
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public:
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CONTROLLER_INTERFACE_PUBLIC
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LeggedGymController() = default;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::return_type update(
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const rclcpp::Time &time, const rclcpp::Duration &period) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_init() override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_deactivate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_cleanup(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_shutdown(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_error(
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const rclcpp_lifecycle::State &previous_state) override;
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@ -33,43 +33,32 @@ namespace unitree_guide_controller {
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class UnitreeGuideController final : public controller_interface::ControllerInterface {
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public:
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CONTROLLER_INTERFACE_PUBLIC
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UnitreeGuideController() = default;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::return_type update(
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const rclcpp::Time &time, const rclcpp::Duration &period) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_init() override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_deactivate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_cleanup(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_error(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_shutdown(
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const rclcpp_lifecycle::State &previous_state) override;
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