patlican23 / new-robot-module

Template for a new robot module in mc_rtc

mc_rtc new robot module template

This project is a template for a new robot module project wihtin mc_rtc

It comes with:

• a CMake project that can build a controller in mc_rtc, the project can be put within mc_rtc source-tree for easier updates
• clang-format files
• automated GitHub Actions builds on three major platforms

This repository actually creates two robot modules:

• NewRobotModule is a C++ robot module in the src folder
• NewRobotModuleYAML is a YAML robot module in the yaml folder

They both re-create the JVRC1 robot module shipped with mc_rtc

Quick start

1. Renaming the robot module from NewRobotModule to MyRobotModule. In a shell (Git Bash on Windows, replace sed with gsed on macOS):

sed -i -e's/NewRobotModule/MyRobotModule/g' `find . -type f`

2. If you choose to build a C++ robot module

git rm -rf yaml
sed -i -e's/add_subdirectory(yaml)//' CMakeLists.txt
git mv src/NewRobotModule.in.cpp src/MyRobotModule.in.cpp
git mv src/NewRobotModule.h src/MyRobotModule.h

3. If you choose to build a YAML robot module

git rm -rf src
sed -i -e's/add_subdirectory(src)//' CMakeLists.txt

4. You can customize the project name in vcpkg.json as well, note that this must follow vcpkg manifest rules

5. Build and install the project

6. Run using your mc_rtc interface of choice, and setting MainRobot to MyRobotModule