nix

CMakeLists.txt

@@ -64,7 +64,6 @@ set(${PROJECT_NAME}_sources
     src/robot_model_builder.cpp)
 ament_auto_add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources}
                        ${${PROJECT_NAME}_headers})
-ament_target_dependencies(${PROJECT_NAME} Eigen3)
 target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
 target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_parameters)
 
@@ -78,14 +77,23 @@ if(BUILD_TESTING)
 
   ament_auto_add_gtest(test_averaging_filter tests/test_averaging_filter.cpp)
   target_link_libraries(test_averaging_filter ${PROJECT_NAME})
+  set_tests_properties(test_averaging_filter PROPERTIES
+      ENVIRONMENT_MODIFICATION
+      LD_LIBRARY_PATH=path_list_prepend:${CMAKE_CURRENT_BINARY_DIR})
 
   ament_auto_add_gtest(test_min_jerk tests/test_min_jerk.cpp)
   target_link_libraries(test_min_jerk ${PROJECT_NAME})
+  set_tests_properties(test_min_jerk PROPERTIES
+      ENVIRONMENT_MODIFICATION
+      LD_LIBRARY_PATH=path_list_prepend:${CMAKE_CURRENT_BINARY_DIR})
 
   ament_auto_add_gtest(test_robot_model_builder
                        tests/test_robot_model_builder.cpp)
   target_link_libraries(test_robot_model_builder ${PROJECT_NAME}
                         example-robot-data::example-robot-data)
+  set_tests_properties(test_robot_model_builder PROPERTIES
+      ENVIRONMENT_MODIFICATION
+      LD_LIBRARY_PATH=path_list_prepend:${CMAKE_CURRENT_BINARY_DIR})
 endif()
 
 #

default.nix

@@ -0,0 +1,69 @@
+{
+  lib,
+  stdenv,
+  cmake,
+  fmt,
+  python3Packages,
+  rosPackages,
+  linear-feedback-controller-msgs
+}:
+stdenv.mkDerivation {
+  pname = "linear-feedback-controller";
+  version = "1.0.2";
+
+  src = lib.fileset.toSource {
+    root = ./.;
+    fileset = lib.fileset.unions [
+      ./cmake
+      ./CMakeLists.txt
+      ./config
+      ./controller_plugins.xml
+      ./include
+      ./launch
+      ./LICENSE
+      ./package.xml
+      ./src
+      ./tests
+    ];
+  };
+
+  nativeBuildInputs = [
+    cmake
+    fmt
+    python3Packages.python
+    rosPackages.humble.ament-cmake
+    rosPackages.humble.ament-cmake-auto
+    rosPackages.humble.ament-lint-auto
+    rosPackages.humble.eigen3-cmake-module # this is a mistake on humble
+    rosPackages.humble.generate-parameter-library-py
+    rosPackages.humble.pluginlib
+  ];
+
+  propagatedBuildInputs = [
+    fmt
+    linear-feedback-controller-msgs
+    python3Packages.pinocchio
+    python3Packages.example-robot-data
+    rosPackages.humble.control-toolbox
+    rosPackages.humble.controller-interface
+    rosPackages.humble.nav-msgs
+    rosPackages.humble.pal-statistics
+    rosPackages.humble.parameter-traits
+    rosPackages.humble.realtime-tools
+    rosPackages.humble.rclcpp-lifecycle
+  ];
+
+  doCheck = true;
+
+  # generate_parameter_library_markdown complains that build/doc exists
+  # ref. /~https://github.com/PickNikRobotics/generate_parameter_library/pull/212
+  enableParallelBuilding = false;
+
+  meta = {
+    description = "RosControl linear feedback controller with pal base estimator and RosTopics external interface.";
+    homepage = "/~https://github.com/loco-3d/linear-feedback-controller";
+    license = lib.licenses.bsd2;
+    maintainers = [ lib.maintainers.nim65s ];
+    platforms = lib.platforms.linux;
+  };
+}

flake.nix

@@ -0,0 +1,31 @@
+{
+  description = "RosControl linear feedback controller with pal base estimator and RosTopics external interface.";
+
+  inputs = {
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
+    linear-feedback-controller-msgs = {
+      url = "github:loco-3d/linear-feedback-controller-msgs/nix";
+      inputs.nix-ros-overlay.follows = "nix-ros-overlay";
+    };
+  };
+
+  outputs =
+    { linear-feedback-controller-msgs, nix-ros-overlay, self, ... }:
+    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
+      system:
+      let
+        pkgs = import nix-ros-overlay.inputs.nixpkgs {
+          inherit system;
+          overlays = [ nix-ros-overlay.overlays.default ];
+        };
+      in
+      {
+        packages = {
+          default = self.packages.${system}.linear-feedback-controller;
+          linear-feedback-controller = pkgs.callPackage ./default.nix {
+            inherit (linear-feedback-controller-msgs.packages.${system}) linear-feedback-controller-msgs;
+          };
+        };
+      }
+    );
+}

package.xml

@@ -17,7 +17,8 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <build_depend>eigen</build_depend>
-  <buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
+  <build_depend>fmt</build_depend>
+  <build_depend>parameter_traits</build_depend>
   <build_export_depend>eigen</build_export_depend>
 
   <depend>rclcpp</depend>