threeal / beine

ROS 2 leg support project

Alfi Maulana

A C++ enthusiast who is experienced with building and optimizing native apps on Linux, macOS, and Windows. Also, a fast learner and generalist who can develop multiple things like computer vision programs using OpenCV, shell scripts for CI workflows, web apps using TypeScript, and microservices using Go.

My Works

Aside from my current job, I also work on several personal projects. Currently, most of these projects are GitHub repository templates and GitHub Actions for utilizing my other projects. Please refer to my repositories for a list of all projects that I have done.

C++ Projects

• C++ Starter: A minimalistic GitHub repository template to kickstart your C++ project.
• Errors C++: A C++ package that provides utilities for error handling.
• Result: A simple C++ implementation of Rust Result, an alternative to Abseil Status.

CMake Projects

• CMake Starter: A minimalistic GitHub repository template to kickstart your CMake project.
• Assertion.cmake: A CMake module containing a collection of assertion functions for testing purposes.
• CheckWarning.cmake: Check for compiler warnings in your CMake project.
• FixFormat.cmake: Fix source codes formatting in your CMake project.
• GitCheckout.cmake: Clone and check out a Git repository from a CMake project.
• SetupGo.cmake: Set up a specific version of Go from a CMake project.

Node.js Projects

• Node.js Starter: A minimalistic GitHub repository template to kickstart your Node.js project.
• Google Rank: Retrieve the Google search ranking of your website for specific keywords.
• LeetTest: Tool for compiling and testing solutions to LeetCode problems.

GitHub Actions Projects

• Action Starter: A minimalistic GitHub repository template to kickstart your GitHub Action project.
• Setup Yarn Berry Action: Set up Yarn to a specified version and install Node.js project with cache support on GitHub Actions.
• Pipx Install Action: Install Python packages using pipx with cache support on GitHub Actions.
• CMake Action: Configure, build, and test your CMake project using GitHub Actions.
• Gcovr Action: Generate code coverage reports for a C++ project on GitHub Actions using gcovr.
• LeetTest Action: Compile and test solutions to LeetCode problems on GitHub Actions.

GitHub Composite Actions Projects

• Composite Action Starter: A minimalistic GitHub repository template to kickstart your GitHub composite action project.
• Setup Poetry Action: Set up your GitHub Actions workflow with a specific version of Poetry.
• CTest Action: Test CMake projects using CTest on GitHub Actions.
• ROS 2 Workspace Action: Setup, build and test a ROS 2 workspace using GitHub Actions.

Other Projects

• Project Starter: A minimalistic GitHub repository template to kickstart your project.
• Python Starter: A minimalistic GitHub repository template to kickstart your Python project.
• LeetSpace: A dedicated workspace and archive for my LeetCode submissions.

beine's Issues

Add Master Header

Add a master header in the bein_interfaces/bein_interfaces.hpp so it would be possible to include all interfaces using a single header entry point instead of including it one by one.

Add Position and Orientation Msgs

Add a Position and an Orientation msgs.

Add Provider and Consumer Implementation

Add LegsProvider and LegsConsumer implementation example to be used to view the legs data and send a dummy legs data.

Add Workflows

Add some GitHub workflows to build and test this project using ROS 2 CI action.

Add Beine Cpp

Add a new package named beine_cpp that will be used to provides a Provider and a Consumer abstract class to be used by other projects.

Re Brand Into Beine

Just like in threeal/tosshin#16. Re branding an interfaces package into a package that provides a Provider and a Consumer abstract class seems nice to be used instead of manually specify every publisher, subscription, etc. to be used. That's why it's better to re brand this project to works like that. But in addition, rename this project from Bein (leg) into Beine (legs) too.

Add Stance and Command Topic

Add publication and subscription on stance (position, orientation, adcs) and command topic.

Explain Usage in Readme

Explain how to use this package in the README.md file.

Legs Dummy Change Move Local Position

Change the position modification in the legs_provider_dummy to be local position modification, depend on the current transformation (rotation).