diff --git a/CMakeLists.txt b/CMakeLists.txt index 70c899b..9f954f3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,8 @@ +# SPDX-License-Identifier: GPL-3.0 +# Copyright (C) 2025-2026 Luo1imasi + cmake_minimum_required(VERSION 3.16) -project(roboparty-inference) +project(roboparty_inference) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native") set(CMAKE_CXX_COMPILER_LAUNCHER ccache) @@ -55,8 +58,8 @@ target_link_libraries(robot PUBLIC ${PUBLIC_DEPENDENCIES} utils cnpy pybind11_add_module(robot_py src/pybind_module.cpp) target_link_libraries(robot_py PUBLIC robot) -add_executable(${PROJECT_NAME}_node src/inference_node.cpp src/ros_interface.cpp src/obs_manager.cpp) -target_include_directories(${PROJECT_NAME}_node +add_executable(inference_node src/inference_node.cpp src/ros_interface.cpp src/obs_manager.cpp) +target_include_directories(inference_node PUBLIC $ $ @@ -64,12 +67,12 @@ target_include_directories(${PROJECT_NAME}_node ${ONNXRUNTIME_INCLUDE_DIR} ${CNPY_INCLUDE_DIR} ) -target_link_libraries(${PROJECT_NAME}_node PUBLIC ${PUBLIC_DEPENDENCIES} utils cnpy robot) -ament_target_dependencies(${PROJECT_NAME}_node PUBLIC rclcpp sensor_msgs geometry_msgs std_srvs) +target_link_libraries(inference_node PUBLIC ${PUBLIC_DEPENDENCIES} utils cnpy robot) +ament_target_dependencies(inference_node PUBLIC rclcpp sensor_msgs geometry_msgs std_srvs) -set_target_properties(${PROJECT_NAME}_node PROPERTIES LINK_FLAGS "-Wl,--no-as-needed") +set_target_properties(inference_node PROPERTIES LINK_FLAGS "-Wl,--no-as-needed") -install(TARGETS ${PROJECT_NAME}_node +install(TARGETS inference_node RUNTIME DESTINATION lib/${PROJECT_NAME}) install(TARGETS robot utils diff --git a/include/robot_interface.hpp b/include/robot_interface.hpp index 44b1685..cb74428 100644 --- a/include/robot_interface.hpp +++ b/include/robot_interface.hpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #pragma once #include diff --git a/launch/inference.launch.py b/launch/inference.launch.py index cb6da90..58b2d71 100755 --- a/launch/inference.launch.py +++ b/launch/inference.launch.py @@ -1,3 +1,6 @@ +# SPDX-License-Identifier: GPL-3.0 +# Copyright (C) 2025-2026 Luo1imasi + ##launch file from launch import LaunchDescription from launch_ros.actions import Node @@ -7,7 +10,7 @@ def generate_launch_description(): configs = [ os.path.join( - get_package_share_directory("inference"), + get_package_share_directory("roboparty_inference"), "config", "inference.yaml", ), @@ -16,7 +19,7 @@ def generate_launch_description(): return LaunchDescription( [ Node( - package="inference", + package="roboparty_inference", executable="inference_node", name="inference_node", parameters=configs, diff --git a/package.xml b/package.xml index bcf633c..887120a 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - roboparty-inference + roboparty_inference 1.1.5 inference package RoboParty diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 47202fc..8d4a98e 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1 +1,4 @@ +# SPDX-License-Identifier: GPL-3.0 +# Copyright (C) 2025-2026 Luo1imasi + add_subdirectory(utils) \ No newline at end of file diff --git a/src/inference_node.cpp b/src/inference_node.cpp index 0147b57..650d246 100644 --- a/src/inference_node.cpp +++ b/src/inference_node.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "inference_node.hpp" ObsStackOrder InferenceNode::parse_obs_stack_order(const std::string& stack_order_name) { diff --git a/src/inference_node.hpp b/src/inference_node.hpp index d0709de..529de81 100644 --- a/src/inference_node.hpp +++ b/src/inference_node.hpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #pragma once #include diff --git a/src/obs_manager.cpp b/src/obs_manager.cpp index b50673d..9e28aa6 100644 --- a/src/obs_manager.cpp +++ b/src/obs_manager.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "inference_node.hpp" namespace { diff --git a/src/pybind_module.cpp b/src/pybind_module.cpp index 6fc67c9..2600146 100644 --- a/src/pybind_module.cpp +++ b/src/pybind_module.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include #include #include "robot_interface.hpp" diff --git a/src/robot_interface.cpp b/src/robot_interface.cpp index f2ed4b3..dabceb9 100644 --- a/src/robot_interface.cpp +++ b/src/robot_interface.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "robot_interface.hpp" RobotInterface::RobotInterface(const std::string& config_file) { diff --git a/src/ros_interface.cpp b/src/ros_interface.cpp index 944b879..0d2bea7 100644 --- a/src/ros_interface.cpp +++ b/src/ros_interface.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "inference_node.hpp" void InferenceNode::load_config() { diff --git a/src/utils/CMakeLists.txt b/src/utils/CMakeLists.txt index ebd87a3..12b53d0 100644 --- a/src/utils/CMakeLists.txt +++ b/src/utils/CMakeLists.txt @@ -1,3 +1,6 @@ +# SPDX-License-Identifier: GPL-3.0 +# Copyright (C) 2025-2026 Luo1imasi + AUX_SOURCE_DIRECTORY(. SOURCE_LIST_UTILS) add_library(utils STATIC diff --git a/src/utils/close_chain_mapping.cpp b/src/utils/close_chain_mapping.cpp index 3c0fb65..ae92484 100644 --- a/src/utils/close_chain_mapping.cpp +++ b/src/utils/close_chain_mapping.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "close_chain_mapping.hpp" #include "decouple_rpo.hpp" diff --git a/src/utils/close_chain_mapping.hpp b/src/utils/close_chain_mapping.hpp index b38b5a9..ad76c40 100644 --- a/src/utils/close_chain_mapping.hpp +++ b/src/utils/close_chain_mapping.hpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #pragma once #include diff --git a/src/utils/decouple_rpo.cpp b/src/utils/decouple_rpo.cpp index 51d0626..bde50aa 100644 --- a/src/utils/decouple_rpo.cpp +++ b/src/utils/decouple_rpo.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "decouple_rpo.hpp" #include diff --git a/src/utils/decouple_rpo.hpp b/src/utils/decouple_rpo.hpp index 3fb59aa..ca545b6 100644 --- a/src/utils/decouple_rpo.hpp +++ b/src/utils/decouple_rpo.hpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #pragma once #include "close_chain_mapping.hpp" diff --git a/src/utils/motion_loader.cpp b/src/utils/motion_loader.cpp index 6d6007c..e79954b 100644 --- a/src/utils/motion_loader.cpp +++ b/src/utils/motion_loader.cpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #include "motion_loader.hpp" MotionLoader::MotionLoader(const std::string& motion_file) { diff --git a/src/utils/motion_loader.hpp b/src/utils/motion_loader.hpp index 0155177..9d5627a 100644 --- a/src/utils/motion_loader.hpp +++ b/src/utils/motion_loader.hpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #pragma once #include diff --git a/src/utils/thread_pool.hpp b/src/utils/thread_pool.hpp index 568330e..4360ecc 100644 --- a/src/utils/thread_pool.hpp +++ b/src/utils/thread_pool.hpp @@ -1,3 +1,6 @@ +// SPDX-License-Identifier: GPL-3.0 +// Copyright (C) 2025-2026 Luo1imasi + #pragma once #include