Add prototype version

.github/dependabot.yml

@@ -0,0 +1,13 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/workflows/ci-format.yml

@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/[email protected]
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

.github/workflows/ci.yml

@@ -0,0 +1,20 @@
+name: CI (humble)
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: humble

.gitignore

@@ -0,0 +1,3 @@
+build/
+log/
+install/

.pre-commit-config.yaml

@@ -0,0 +1,147 @@
+# To use:
+#     pip install pre-commit
+#     pre-commit run -a
+#
+#     (to run on all files)
+#     pre-commit run --all-files
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.3.1
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.0.0
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # Uncrustify
+  - repo: local
+    hooks:
+      - id: ament_uncrustify
+        name: ament_uncrustify
+        description: Uncrustify.
+        stages: [commit]
+        entry: ament_uncrustify
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--reformat"]
+
+  # CPP hooks
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-14
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+
+  # - repo: local
+  #   hooks:
+  #     - id: ament_cppcheck
+  #       name: ament_cppcheck
+  #       description: Static code analysis of C/C++ files.
+  #       stages: [commit]
+  #       entry: ament_cppcheck
+  #       language: system
+  #       files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  # Maybe use https://github.com/cpplint/cpplint instead
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.2
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$

CMakeLists.txt

@@ -23,9 +23,6 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(libusb REQUIRED libusb-1.0)
-
 find_package(ament_cmake REQUIRED)
 include(FetchContent)
 include(ExternalProject)
@@ -34,7 +31,8 @@ include(ExternalProject)
 #---------------------------------
 fetchcontent_declare(
   mosek_binaries
-  URL      https://download.mosek.com/stable/${MOSEK_VERSION}/mosektoolslinuxaarch64.tar.bz2
+  URL      https://download.mosek.com/stable/${MOSEK_VERSION}/mosektoolslinux64x86.tar.bz2
+  INSTALL_COMMAND ""
 )
 fetchcontent_makeavailable(mosek_binaries)
 
@@ -46,7 +44,7 @@ list(GET VERSION_MOSEK_LIST 1 VERSION_MOSEK_MINOR)
 
 set(
   MOSEK_SRC_LINUX
-  ${mosek_binaries_SOURCE_DIR}/${VERSION_MOSEK_MAJOR}.${VERSION_MOSEK_MINOR}/tools/platform/linuxaarch64/
+  ${mosek_binaries_SOURCE_DIR}/${VERSION_MOSEK_MAJOR}.${VERSION_MOSEK_MINOR}/tools/platform/linux64x86/
 )
 
 set(MOSEK_HEADERDIR ${MOSEK_SRC_LINUX}/h)
@@ -57,29 +55,27 @@ set(MOSEK_LIBDIR ${MOSEK_SRC_LINUX}/bin)
 # Build the C++ API (Fusion)
 #-------------------------------
 
-#[==[
-find_program(MAKE_EXECUTABLE NAMES make REQUIRED)
-SET(CMAKE_EXE_LINKER_FLAGS 
-          "${CMAKE_EXE_LINKER_FLAGS} -Wl,-rpath -Wl,${MOSEK_LIBDIR}")
-
-set(CMAKE_INSTALL_RPATH ${MOSEK_LIBDIR})
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-execute_process(COMMAND make install -j -C ${MOSEK_SRCDIR})
+set(CMAKE_VERBOSE_MAKEFILE ON)
 
+execute_process(
+  WORKING_DIRECTORY ${MOSEK_SRCDIR}
+  COMMAND make install
+)
 # Setup vendor library
 #----------------------
+
 add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
-  $<BUILD_INTERFACE:${fd_sdk_binaries_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${MOSEK_HEADERDIR}>
   $<INSTALL_INTERFACE:include>
 )
+
 target_link_libraries(
-  ${PROJECT_NAME} INTERFACE
-  ${CMAKE_INSTALL_PREFIX}/lib/libdhd.so.${VERSION_SDK_MAJOR}
-  ${CMAKE_INSTALL_PREFIX}/lib/libdrd.so.${VERSION_SDK_MAJOR}
-  ${libusb-1.0_LIBRARIES}
+  ${PROJECT_NAME}
+  INTERFACE
+    ${CMAKE_INSTALL_PREFIX}/lib/libmosek64.so.${VERSION_MOSEK_MAJOR}.${VERSION_MOSEK_MINOR}
+    ${CMAKE_INSTALL_PREFIX}/lib/libfusion64.so.${VERSION_MOSEK_MAJOR}.${VERSION_MOSEK_MINOR}
 )
-#]==]
 
 # Testing
 #----------
@@ -95,4 +91,27 @@ endif()
 # Install
 #----------
 
+install(
+  DIRECTORY ${MOSEK_HEADERDIR}/
+  DESTINATION ./include/${PROJECT_NAME}
+)
+
+install(
+  FILES ${MOSEK_LIBDIR}/libmosek64.so.${VERSION_MOSEK_MAJOR}.${VERSION_MOSEK_MINOR}
+  DESTINATION lib
+)
+install(
+  FILES ${MOSEK_LIBDIR}/libfusion64.so.${VERSION_MOSEK_MAJOR}.${VERSION_MOSEK_MINOR}
+  DESTINATION lib
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+
 ament_package()

README.md

@@ -3,9 +3,40 @@ Vendor package to use the solver MOSEK in ROS2 applications.
 
 ## Installation
 
-## Get a license
+1) Install the package
+
+```bash
+cd <ros_ws>/src
+git clone <this_repos>
+cd ..
+colcon build
+```
+
+2) Get a license
 
 Note that a license is mandatory to run MOSEK.
-See the [website](https://docs.mosek.com/10.1/licensing/quickstart.html#i-don-t-have-a-license-file-yet) for the detailled procedure.
+See the [website](https://docs.mosek.com/10.1/licensing/quickstart.html#i-don-t-have-a-license-file-yet) for the detailed procedure.
+
+The file `mosek.lic` you will obtain has to be copied to your personal home folder in `~/mosek/mosek.lic`.
+
+
+## Usage example
+
+> `package.xml` :
+```xml
+...
+<depend>mosek_vendor_ros2</depend>
+...
+```
 
-The file `mosek.lic` you will obtain has to be copied to your personnal home folder in `~/mosek/mosek.lic`.
+> `CMakeLists.txt` :
+```cmake
+...
+find_package(mosek_vendor_ros2)
+...
+ament_target_dependencies(<the_target> <type> mosek_vendor_ros2)
+...
+```
+> `xxx.cpp` :
+```cpp
+#include <mosek_vendor_ros2/fusion.h>