Change header install path

README.md

@@ -80,7 +80,7 @@ generate_parameter_module(
 **src/turtlesim.cpp**
 ```c++
 #include <rclcpp/rclcpp.hpp>
-#include "turtlesim_parameters.hpp"
+#include <turtlesim/turtlesim_parameters.hpp>  // you can also use the deprecated #include "turtlesim_parameters.hpp"
 
 int main(int argc, char * argv[])
 {
@@ -348,10 +348,46 @@ The generated parameter value for the nested map example can then be accessed wi
 
 ### Use generated struct in Cpp
 The generated header file is named based on the target library name you passed as the first argument to the cmake function.
-If you specified it to be `turtlesim_parameters` you can then include the generated code with `#include "turtlesim_parameters.hpp"`.
+If you specified it to be `turtlesim_parameters` you can then include the generated code with `#include <turtlesim/turtlesim_parameters.hpp>`.
 ```c++
-#include "turtlesim_parameters.hpp"
+#include <turtlesim/turtlesim_parameters.hpp>
 ```
+
+Note that this header can also be used from another package:
+```cmake
+cmake_minimum_required(VERSION 3.8)
+project(my_other_package)
+
+
+include(GNUInstallDirs)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(turtelsim REQUIRED)
+
+add_library(my_lib src/my_lib.cpp)
+target_include_directories(my_lib PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+target_link_libraries(my_lib PUBLIC turtlesim::turtlesim_parameters)
+
+#############
+## Install ##
+#############
+
+install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME})
+
+install(TARGETS my_lib
+  EXPORT ${PROJECT_NAME}Targets
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION lib/${PROJECT_NAME})
+
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_export_dependencies(turtlesim)
+ament_package()
+```
+
 In your initialization code, create a `ParamListener` which will declare and get the parameters.
 An exception will be thrown if any validation fails or any required parameters were not set.
 Then call `get_params` on the listener to get a copy of the `Params` struct.

example_external/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package generate_parameter_library_example_external
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2024-08-07)
+------------------
+* Example usage of generated header from another package (generate_parameter_library_example)
+* Contributors: Auguste Bourgois

example_external/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.16)
+project(generate_parameter_library_example_external)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wall -Wextra -Wpedantic -Wshadow -Wconversion -Wsign-conversion -Wold-style-cast)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(generate_parameter_library_example REQUIRED)
+
+add_library(minimal_publisher_external SHARED
+  src/minimal_publisher_external.cpp
+)
+target_include_directories(minimal_publisher_external PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/generate_parameter_library_example_external>
+)
+target_link_libraries(minimal_publisher_external
+  PUBLIC
+    rclcpp::rclcpp
+    rclcpp_components::component
+    generate_parameter_library_example::admittance_controller_parameters
+)
+rclcpp_components_register_node(minimal_publisher_external
+  PLUGIN "admittance_controller::MinimalPublisher"
+  EXECUTABLE test_node
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/generate_parameter_library_example_external
+)
+
+install(TARGETS minimal_publisher_external
+  EXPORT export_generate_parameter_library_example_external
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  TARGETS test_node
+  DESTINATION lib/generate_parameter_library_example_external
+)
+
+ament_export_targets(export_generate_parameter_library_example_external HAS_LIBRARY_TARGET)
+ament_export_dependencies(rclcpp rclcpp_components generate_parameter_library_example)
+ament_package()

example_external/README.md

@@ -0,0 +1,155 @@
+# Example:
+
+## Build the node
+
+```
+ mkdir colcon_ws
+ mkdir colcon_ws/src
+ cd colcon_ws/src
+ git clone https://github.com/picknikrobotics/generate_parameter_library.git
+ cd ..
+ colcon build
+```
+
+## Run the C++ node
+
+```
+source install/setup.bash
+ros2 run generate_parameter_library_example_external test_node --ros-args --params-file src/generate_parameter_library/example_external/config/implementation.yaml
+```
+
+You should see an output like this:
+`[INFO] [1656018676.015816509] [admittance_controller]: Control frame is: 'ee_link'`
+
+## ROS 2 CLI
+
+Run the following:
+
+`ros2 param list`
+
+You should see:
+
+```
+/admittance_controller:
+  admittance.damping_ratio
+  admittance.mass
+  admittance.selected_axes
+  admittance.stiffness
+  chainable_command_interfaces
+  command_interfaces
+  control.frame.external
+  control.frame.id
+  enable_parameter_update_without_reactivation
+  fixed_array
+  fixed_string
+  fixed_string_no_default
+  fixed_world_frame.frame.external
+  fixed_world_frame.frame.id
+  ft_sensor.filter_coefficient
+  ft_sensor.frame.external
+  ft_sensor.frame.id
+  ft_sensor.name
+  gravity_compensation.CoG.force
+  gravity_compensation.CoG.pos
+  gravity_compensation.frame.external
+  gravity_compensation.frame.id
+  interpolation_mode
+  joints
+  kinematics.alpha
+  kinematics.base
+  kinematics.group_name
+  kinematics.plugin_name
+  kinematics.plugin_package
+  kinematics.tip
+  one_number
+  pid.elbow_joint.d
+  pid.elbow_joint.i
+  pid.elbow_joint.p
+  pid.rate
+  pid.shoulder_lift_joint.d
+  pid.shoulder_lift_joint.i
+  pid.shoulder_lift_joint.p
+  pid.shoulder_pan_joint.d
+  pid.shoulder_pan_joint.i
+  pid.shoulder_pan_joint.p
+  pid.wrist_1_joint.d
+  pid.wrist_1_joint.i
+  pid.wrist_1_joint.p
+  pid.wrist_2_joint.d
+  pid.wrist_2_joint.i
+  pid.wrist_2_joint.p
+  pid.wrist_3_joint.d
+  pid.wrist_3_joint.i
+  pid.wrist_3_joint.p
+  qos_overrides./parameter_events.publisher.depth
+  qos_overrides./parameter_events.publisher.durability
+  qos_overrides./parameter_events.publisher.history
+  qos_overrides./parameter_events.publisher.reliability
+  scientific_notation_num
+  state_interfaces
+  three_numbers
+  three_numbers_of_five
+  use_feedforward_commanded_input
+  use_sim_time
+  ```
+
+All parameter are automatically declared and callbacks are setup by default. You can set a parameter by typing:
+
+`ros2 param set /admittance_controller control.frame.id new_frame`
+
+You should see:
+
+`[INFO] [1656019001.515820371] [admittance_controller]: New control frame parameter is: 'new_frame'`
+
+Congratulations, you updated the parameter!
+
+If you try to set a parameter that is read only, you will get an error. Running the following
+
+`ros2 param set /admittance_controller command_interfaces ["velocity"]`
+
+will result in the error
+
+`Setting parameter failed: parameter 'command_interfaces' cannot be set because it is read-only`
+
+Running the following
+
+`ros2 param describe /admittance_controller admittance.damping_ratio`
+
+will show a parameter's description
+
+ ```
+ Parameter name: admittance.damping_ratio
+  Type: double array
+  Description: specifies damping ratio values for x, y, z, rx, ry, and rz used in the admittance calculation. The values are calculated as damping can be used instead: zeta = D / (2 * sqrt( M * S ))
+  Constraints:
+    Min value: 0.1
+    Max value: 10.0
+```
+
+If you try to set a value out of the specified bounds,
+
+`ros2 param set /admittance_controller admittance.damping_ratio [-10.0,-10.0,-10.0,-10.0,-10.0,-10.0]`
+
+you will get the error
+
+`Setting parameter failed: Value -10.0 in parameter 'admittance.damping_ratio' must be within bounds [0.1, 10.0]`
+
+If you try to set a vector parameter with the wrong length,
+
+`ros2 param set /admittance_controller admittance.damping_ratio [1.0,1.0,1.0]`
+
+you will get the error
+
+`Setting parameter failed: Length of parameter 'admittance.damping_ratio' is 3 but must be equal to 6`
+
+If you try to load a yaml file with missing required parameters
+
+`ros2 run generate_parameter_library_example test_node --ros-args --params-file src/generate_parameter_library/example_external/config/missing_required.yaml`
+
+you will get the error
+
+```
+terminate called after throwing an instance of 'rclcpp::exceptions::ParameterUninitializedException'
+  what():  parameter 'fixed_string_no_default' is not initialized
+[ros2run]: Aborted
+```

example_external/config/implementation.yaml

@@ -0,0 +1,117 @@
+admittance_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+
+    fixed_string_no_default:
+      "happy"
+
+    elbow_joint:
+      x:
+        weight: 2.0
+
+    pid:
+      shoulder_pan_joint:
+        i: 0.7
+      shoulder_lift_joint:
+        i: 0.5
+      elbow_joint:
+        i: 0.2
+      wrist_1_joint:
+        i: 1.2
+      wrist_2_joint:
+        i: 0.8
+      wrist_3_joint:
+        i: 0.5
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    chainable_command_interfaces:
+      - position
+      - velocity
+
+    kinematics:
+      plugin_name: kdl_plugin/KDLKinematics
+      plugin_package: kinematics_interface_kdl
+      base: base_link # Assumed to be stationary
+      tip: ee_link
+      group_name: ur5e_manipulator
+      alpha: 0.0005
+
+    ft_sensor:
+      name: tcp_fts_sensor
+      frame:
+        id: ee_link  # ee_link Wrench measurements are in this frame
+        external: false # force torque frame exists within URDF kinematic chain
+      filter_coefficient: 0.005
+
+    control:
+      frame:
+        id: ee_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
+        external: false # control frame exists within URDF kinematic chain
+
+    fixed_world_frame:
+      frame: # Gravity points down (neg. Z) in this frame (Usually: world or base_link)
+        id: base_link # Admittance calcs (displacement etc) are done in this frame. Usually the tool or end-effector
+        external: false # control frame exists within URDF kinematic chain
+
+    gravity_compensation:
+      frame:
+        id: ee_link
+        external: false
+
+      CoG: # specifies the center of gravity of the end effector
+        pos:
+          - 0.1 # x
+          - 0.0 # y
+          - 0.0 # z
+        force: 23.0 # mass * 9.81
+
+    admittance:
+      selected_axes:
+        - true # x
+        - true # y
+        - true # z
+        - true # rx
+        - true # ry
+        - true # rz
+
+      # Having ".0" at the end is MUST, otherwise there is a loading error
+      # F = M*a + D*v + S*(x - x_d)
+      mass:
+        - 3.0 # x
+        - 3.0 # y
+        - 3.0 # z
+        - 0.05 # rx
+        - 0.05 # ry
+        - 0.05 # rz
+
+      damping_ratio: # damping can be used instead: zeta = D / (2 * sqrt( M * S ))
+        - 2.828427 # x
+        - 2.828427 # y
+        - 2.828427 # z
+        - 2.828427 # rx
+        - 2.828427 # ry
+        - 2.828427 # rz
+
+      stiffness:
+        - 50.0 # x
+        - 50.0 # y
+        - 50.0 # z
+        - 1.0 # rx
+        - 1.0 # ry
+        - 1.0 # rz
+
+    # general settings
+    enable_parameter_update_without_reactivation: true
+    use_feedforward_commanded_input: true