Wentywenty/master

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)
@@ -55,21 +58,21 @@ 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 
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>
   $<INSTALL_INTERFACE:include>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   ${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

include/robot_interface.hpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #pragma once
 
 #include <string>

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,

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>roboparty-inference</name>
+  <name>roboparty_inference</name>
   <version>1.1.5</version>
   <description>inference package</description>
   <maintainer email="ZhihaoLiu_hit@163.com">RoboParty</maintainer>

src/CMakeLists.txt

@@ -1 +1,4 @@
+# SPDX-License-Identifier: GPL-3.0
+# Copyright (C) 2025-2026 Luo1imasi
+
 add_subdirectory(utils)

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) {

src/inference_node.hpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #pragma once
 
 #include <sys/mman.h>

src/obs_manager.cpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #include "inference_node.hpp"
 
 namespace {

src/pybind_module.cpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 #include "robot_interface.hpp"

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) {

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() {

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

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"
 

src/utils/close_chain_mapping.hpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #pragma once
 
 #include <memory>

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 <iostream>
 

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"

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) {

src/utils/motion_loader.hpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #pragma once
 
 #include <cnpy.h>

src/utils/thread_pool.hpp

@@ -1,3 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0
+// Copyright (C) 2025-2026 Luo1imasi
+
 #pragma once
 
 #include <vector>