Release: v0.2.0 (#204)

* Rename namespace to march (#196)

* Fix incrementing byte offsets with register

And changed to unordered map

* Fix clang format

* Fix inconsistent variable naming

* Fix: recalibrate right hip aa (#198)

* Recalibrate

* Fix travis dependency

Co-authored-by: Project March <tech@projectmarch.nl>
Co-authored-by: JorisWeeda <45165354+JorisWeeda@users.noreply.github.com>

* add time updater for IMU message

Co-authored-by: Project March <tech@projectmarch.nl>
Co-authored-by: Isha Dijcks <I.E.Dijcks@student.tudelft.nl>
Co-authored-by: JorisWeeda <45165354+JorisWeeda@users.noreply.github.com>

Author: 4 people

.travis.yml

@@ -29,7 +29,7 @@ env:
     - BUILDER=colcon
     - CATKIN_LINT=pedantic
     - CATKIN_LINT_ARGS='--ignore literal_project_name --ignore target_name_collision'
-    - UPSTREAM_WORKSPACE='.rosinstall -march/march_data_collector -march/march_gait_scheduler -march/march_gain_scheduling -march/march_gait_selection -march/march_launch -march/march_safety -march/march_sound_scheduler -march/march_state_machine'
+    - UPSTREAM_WORKSPACE='.rosinstall -march/march_data_collector -march/march_gait_scheduler -march/march_gain_scheduling -march/march_gait_selection -march/march_launch -march/march_safety -march/march_state_machine'
 
 jobs:
   include:

march_hardware/CMakeLists.txt

@@ -66,7 +66,7 @@ if (CATKIN_ENABLE_TESTING)
     endif()
 
     add_rostest_gmock(${PROJECT_NAME}-test
-        test/march4cpp.test
+        test/march_hardware.test
         test/TestRunner.cpp
         test/TestEncoder.cpp
         test/TestIMotionCube.cpp

march_hardware/include/march_hardware/ActuationMode.h

@@ -5,7 +5,7 @@
 #include <string>
 #include <ros/console.h>
 
-namespace march4cpp
+namespace march
 {
 class ActuationMode
 {
@@ -87,6 +87,6 @@ class ActuationMode
 private:
   Value value = unknown;
 };
-}  // namespace march4cpp
+}  // namespace march
 
 #endif  // MARCH_HARDWARE_ACTUATIONMODE_H

march_hardware/include/march_hardware/Encoder.h

@@ -5,7 +5,7 @@
 
 #include <ostream>
 
-namespace march4cpp
+namespace march
 {
 class Encoder
 {
@@ -75,6 +75,6 @@ class Encoder
               << "safetyMarginRad: " << encoder.safetyMarginRad;
   }
 };
-}  // namespace march4cpp
+}  // namespace march
 
 #endif  // MARCH_HARDWARE_ENCODER_H

march_hardware/include/march_hardware/EtherCAT/EthercatIO.h

@@ -15,7 +15,7 @@
 #include <soem/ethercatconfig.h>
 #include <soem/ethercatprint.h>
 
-namespace march4cpp
+namespace march
 {
 // struct used to easily get specific bytes from a 64 bit variable
 struct packed_bit64
@@ -105,5 +105,5 @@ union bit8 get_output_bit8(uint16 slave_no, uint8 module_index);
 
 void set_output_bit(uint16 slave_no, uint8 module_index, uint8 value);
 
-}  // namespace march4cpp
+}  // namespace march
 #endif  // MARCH_HARDWARE_ETHERCAT_ETHERCATIO_H

march_hardware/include/march_hardware/EtherCAT/EthercatMaster.h

@@ -7,7 +7,7 @@
 
 #include <march_hardware/Joint.h>
 
-namespace march4cpp
+namespace march
 {
 /**
  * Base class of the ethercat master supported with the SOEM library
@@ -46,5 +46,5 @@ class EthercatMaster
   void stop();
 };
 
-}  // namespace march4cpp
+}  // namespace march
 #endif  // MARCH_HARDWARE_ETHERCAT_ETHERCATMASTER_H

march_hardware/include/march_hardware/EtherCAT/EthercatSDO.h

@@ -4,12 +4,12 @@
 
 #include <cstdint>
 
-namespace march4cpp
+namespace march
 {
 int sdo_bit8(int slave, uint32_t index, uint8_t sub, uint8_t value);
 int sdo_bit16(int slave, uint32_t index, uint8_t sub, uint16_t value);
 int sdo_bit32(int slave, uint32_t index, uint8_t sub, uint32_t value);
 
-}  // namespace march4cpp
+}  // namespace march
 
 #endif  // MARCH_HARDWARE_ETHERCAT_ETHERCATSDO_H

march_hardware/include/march_hardware/HighVoltage.h

@@ -8,7 +8,7 @@
 #include <march_hardware/NetDriverOffsets.h>
 #include <march_hardware/NetMonitorOffsets.h>
 
-namespace march4cpp
+namespace march
 {
 class HighVoltage
 {
@@ -46,5 +46,5 @@ class HighVoltage
   }
 };
 
-}  // namespace march4cpp
+}  // namespace march
 #endif  // MARCH_HARDWARE_HIGHVOLTAGE_H

march_hardware/include/march_hardware/IMotionCube.h

@@ -3,7 +3,7 @@
 #ifndef MARCH_HARDWARE_IMOTIONCUBE_H
 #define MARCH_HARDWARE_IMOTIONCUBE_H
 
-#include <map>
+#include <unordered_map>
 #include <string>
 
 #include <march_hardware/ActuationMode.h>
@@ -14,7 +14,7 @@
 #include <march_hardware/IMotionCubeState.h>
 #include <march_hardware/IMotionCubeTargetState.h>
 
-namespace march4cpp
+namespace march
 {
 class IMotionCube : public Slave
 {
@@ -24,8 +24,8 @@ class IMotionCube : public Slave
 
   void actuateIU(int iu);
 
-  std::map<IMCObjectName, int> misoByteOffsets;
-  std::map<IMCObjectName, int> mosiByteOffsets;
+  std::unordered_map<IMCObjectName, int> misoByteOffsets;
+  std::unordered_map<IMCObjectName, int> mosiByteOffsets;
   void mapMisoPDOs();
   void mapMosiPDOs();
   void validateMisoPDOs();
@@ -85,8 +85,8 @@ class IMotionCube : public Slave
     return os << "slaveIndex: " << iMotionCube.slaveIndex << ", "
               << "encoder: " << iMotionCube.encoder;
   }
-  bool goToTargetState(march4cpp::IMotionCubeTargetState targetState);
+  bool goToTargetState(march::IMotionCubeTargetState targetState);
 };
 
-}  // namespace march4cpp
+}  // namespace march
 #endif  // MARCH_HARDWARE_IMOTIONCUBE_H

march_hardware/include/march_hardware/IMotionCubeState.h

@@ -4,7 +4,7 @@
 
 #include <string>
 
-namespace march4cpp
+namespace march
 {
 class IMCState
 {
@@ -97,6 +97,6 @@ struct IMotionCubeState
   float motorVoltage;
 };
 
-}  // namespace march4cpp
+}  // namespace march
 
 #endif  // MARCH_HARDWARE_IMOTIONCUBESTATE_H