From 835cde7ed600cc5c0416bc4a69d937edf7c1e13e Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 10:20:11 +0200 Subject: [PATCH 1/8] dls2_msgs: submodule update --- dls2_msgs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dls2_msgs b/dls2_msgs index a7adbf8..ddc75f6 160000 --- a/dls2_msgs +++ b/dls2_msgs @@ -1 +1 @@ -Subproject commit a7adbf8b5db41c484d6189b058a843f5bc7e36f6 +Subproject commit ddc75f6278e5d73149edac8f1ecfe4f2e4559f3c From 672dc21ec989eac883dc0c51e76d16cd80aefd2b Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 10:23:37 +0200 Subject: [PATCH 2/8] dls2_ros2_interface: submodule update --- dls2_ros2_interface | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dls2_ros2_interface b/dls2_ros2_interface index 4451f4d..f3aa3e7 160000 --- a/dls2_ros2_interface +++ b/dls2_ros2_interface @@ -1 +1 @@ -Subproject commit 4451f4d59a2db6b3e7a901f668f4dd10b5e7aa1a +Subproject commit f3aa3e78c65f23d2555db7580ace1a378691e1f2 From 1cda6aab4d701baef44de34421175b409340d80b Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 10:27:47 +0200 Subject: [PATCH 3/8] dls2_ros2_interface: submodule update --- dls2_ros2_interface | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dls2_ros2_interface b/dls2_ros2_interface index f3aa3e7..008232b 160000 --- a/dls2_ros2_interface +++ b/dls2_ros2_interface @@ -1 +1 @@ -Subproject commit f3aa3e78c65f23d2555db7580ace1a378691e1f2 +Subproject commit 008232b7dd835451994c4e72970e760122e2d1e4 From 61fd2f20a19eb01345c6ee28fc0d8888d0bb3ee0 Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 10:28:20 +0200 Subject: [PATCH 4/8] rviz_interface: cmake fix --- visualizers/rviz_interface/CMakeLists.txt | 8 -------- 1 file changed, 8 deletions(-) diff --git a/visualizers/rviz_interface/CMakeLists.txt b/visualizers/rviz_interface/CMakeLists.txt index ff36ab7..7db8b22 100644 --- a/visualizers/rviz_interface/CMakeLists.txt +++ b/visualizers/rviz_interface/CMakeLists.txt @@ -10,14 +10,6 @@ if (NOT TARGET dls_messages) find_package(dls_messages REQUIRED) endif() - -if(DEFINED DLS_MESSAGE_FOLDER) - list(APPEND CMAKE_MODULE_PATH "${DLS_MESSAGE_FOLDER}/cmake") -else() - list(APPEND CMAKE_MODULE_PATH "/usr/include/dls_messages/cmake") -endif() -include(generate_msg_library) - # Set RELEASE as the default build type if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE) From 6c1b3467e1d615da016f18d2f73351812bacc4d5 Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 12:25:26 +0200 Subject: [PATCH 5/8] cmake: msg generation fix --- CMakeLists.txt | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 46a72d0..b362b9c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -22,6 +22,14 @@ add_subdirectory(visualizers/rviz_interface) message(STATUS "Generating ROS2 messages from IDL files...") set (DLS2_ROS2_INTERFACE_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dls2_ros2_interface/ros2_ws/src) set (DLS2_ROS2_INTERFACE_DIR ${DLS2_ROS2_INTERFACE_SRC_DIR}/dls2_interface) + + +# remove .msg files from the ROS2 interface src directory to avoid conflicts with the newly generated ones +file(GLOB DLS_MSG_FILES CONFIGURE_DEPENDS "${DLS2_ROS2_INTERFACE_DIR}/msg/*.msg") +foreach(msg_file IN LISTS DLS_MSG_FILES) + file(REMOVE ${msg_file}) +endforeach() + file(GLOB DLS_IDL_FILES CONFIGURE_DEPENDS "${DLS_MESSAGE_FOLDER}/idls/*.idl") foreach(idl_file IN LISTS DLS_IDL_FILES) execute_process( From 683be30db028b6a438f38d51f00392d99346cd03 Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 12:27:03 +0200 Subject: [PATCH 6/8] dls2_ros2_interface: submodule update --- dls2_ros2_interface | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dls2_ros2_interface b/dls2_ros2_interface index 008232b..f313538 160000 --- a/dls2_ros2_interface +++ b/dls2_ros2_interface @@ -1 +1 @@ -Subproject commit 008232b7dd835451994c4e72970e760122e2d1e4 +Subproject commit f313538afe5a82de7100e2b800d0b6dbeb5e829d From 78167312778c37dc85f052668e7c4b8ac39d80fd Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 12:27:17 +0200 Subject: [PATCH 7/8] dls2_msgs: submodule update --- dls2_msgs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dls2_msgs b/dls2_msgs index ddc75f6..9cfecb3 160000 --- a/dls2_msgs +++ b/dls2_msgs @@ -1 +1 @@ -Subproject commit ddc75f6278e5d73149edac8f1ecfe4f2e4559f3c +Subproject commit 9cfecb3835f6fcebe84909299e6f10b565a24409 From ed784ae4ee9c6da6aad4847d8c3f6ec7febd1dbe Mon Sep 17 00:00:00 2001 From: mich-pest Date: Wed, 8 Jul 2026 12:52:34 +0200 Subject: [PATCH 8/8] dummy commit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 7a04fa5..d983626 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ This project is currently in **pre-release** and under active development. # Repository Structure -| Component | Path | Description | +| Component | Path | Description | |-----------|------|-------------| | **DLS2 Framework** | `dls2/` | Core control middleware. Contains modules for control, state estimation, messaging (DDS/IDL), plugins, state machines, signal handling, logging, and utilities. | | **Robotlib** | `robotlib/` | Generic C++ robot abstraction layer. Provides a common API (kinematics, dynamics, Jacobians, data structures) that controllers target, independent of any specific robot morphology. Uses a factory pattern with `dlopen` for runtime-loadable robot libraries. |