sdu_controllers
sdu_controllers is a C++ library that implements fundamental robot controllers. The library is developed and maintained by the SDU Robotics group at University of Southern Denmark (SDU). Python bindings and a MATLAB Simulink interface is provided making it possible to use it as a Python library or in Simulink with very little overhead.
Prerequisites
Building sdu_controllers requires the following software installed:
- A C++17-compliant compiler
- CMake
>= 3.9 - Eigen3
>= 3.3for linear algebra. - yaml-cpp for loading robot models.
- Doxygen (optional, documentation building is skipped if missing)
- Python
>= 3.9for building Python bindings
Building sdu_controllers
Dependencies
In order to build sdu_controllers you must first install the dependencies, see how to do that on your operating system here:
Ubuntu
sudo apt update && sudo apt install libeigen3-dev libyaml-cpp-dev
Windows
vcpkg install eigen3 yaml-cpp
macOS
brew install eigen yaml-cpp
If you plan to build tests and python bindings you must install Catch2 and nanobind with:
git submodule update --init --recursive
When building the Python bindings with CMake directly, install the Python packages used during stub generation into the same Python interpreter that CMake finds:
python -m pip install nanobind typing-extensions numpy
Build procedure
The following sequence of commands builds sdu_controllers. It assumes that your current working directory is the top-level directory of the freshly cloned repository:
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .
The build process can be customized with the following CMake variables,
which can be set by adding -D<var>={ON, OFF} to the cmake call:
BUILD_TESTING: Enable building of the test suite (default:ON)BUILD_DOCS: Enable building the documentation (default:ON)BUILD_PYTHON: Enable building the Python bindings (default:ON)BUILD_EXAMPLES: Enable building the examples (default:ON)
For some controllers, hardware specific examples have been implemented which can be run on a real robot. These are disabled by default.
BUILD_UR_EXAMPLES: Enable building UR specific examples (default:OFF)
If you wish to build and install the project as a Python project without
having access to C++ build artifacts like libraries and executables, you
can do so using pip from the root directory:
python -m pip install .
Testing sdu_controllers
When built according to the above explanation (with -DBUILD_TESTING=ON),
the C++ test suite of sdu_controllers can be run using
ctest from the build directory:
cd build
ctest
The Python test suite can be run by first pip-installing the Python package
and then running pytest from the top-level directory:
python -m pip install .
pytest
Documentation
sdu_controllers provides a Sphinx-based documentation, that can be browsed online at readthedocs.org. To build it locally, first ensure the requirements are installed by running this command from the top-level source directory:
pip install -r doc/requirements.txt
Then build the sphinx documentation from the top-level build directory:
cmake --build . --target sphinx-doc
The web documentation can then be browsed by opening doc/sphinx/index.html in your browser.
1 maintainer
Metadata
1 maintainer
Release files for sdu-controllers 0.0.2
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Built distributions (wheels)
Total release size: 71.4 MB
Release files / sdu_controllers-0.0.2-cp314-cp314-win_amd64.whl
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