From e3f2ac91ee57dc121bb27eaac8ec8aa3236b0a9a Mon Sep 17 00:00:00 2001 From: MMarcus95 Date: Mon, 6 Jul 2026 16:49:06 +0200 Subject: [PATCH 1/4] updated link to pinocchio-gluecode doc --- docs/index.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/index.md b/docs/index.md index e9aa2a2..cdd5ac7 100644 --- a/docs/index.md +++ b/docs/index.md @@ -6,7 +6,8 @@ In modern robotic systems, scalable, flexible, and robust software architectures - @subpage md_docs_2CurrentStageOfDevelopment "Current stage of development" - @subpage md_docs_2GettingStarted "Getting started" - @subpage md_dls2_2doc_2index "DLS2 framework" +- @subpage md_dls2__msgs_2README "DLS2 messages" - @subpage md_robotlib_2README "Robotlib" -- @subpage md_gluecode_2README "GlueCode" +- @subpage md_pinocchio-gluecode_2README "GlueCode" - @subpage md_visualizers_2README "Visualizers" - @subpage md_dls2__ros2__interface_2README "ROS 2 interface" From 342e3a6205b47db5d7d2abd2e8f3a95cd4f9800b Mon Sep 17 00:00:00 2001 From: MMarcus95 Date: Mon, 6 Jul 2026 20:47:51 +0200 Subject: [PATCH 2/4] Submodule documentation update --- dls2 | 2 +- dls2_msgs | 2 +- pinocchio-gluecode | 2 +- robotlib | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/dls2 b/dls2 index cc2f173..5b873e4 160000 --- a/dls2 +++ b/dls2 @@ -1 +1 @@ -Subproject commit cc2f173aeb502a3d02416f8ddcb40fa765198bb8 +Subproject commit 5b873e4bd70015147bd103db0b4858b72ee3a908 diff --git a/dls2_msgs b/dls2_msgs index 4ce99df..a7adbf8 160000 --- a/dls2_msgs +++ b/dls2_msgs @@ -1 +1 @@ -Subproject commit 4ce99df5c257748bcd1f0af515a77727dd1d2a25 +Subproject commit a7adbf8b5db41c484d6189b058a843f5bc7e36f6 diff --git a/pinocchio-gluecode b/pinocchio-gluecode index 8c112f9..c2ed6f9 160000 --- a/pinocchio-gluecode +++ b/pinocchio-gluecode @@ -1 +1 @@ -Subproject commit 8c112f91b0b195502d6409dde15c273ecfce3d55 +Subproject commit c2ed6f98258dfccad57a62b0a851b62291f94604 diff --git a/robotlib b/robotlib index 18498d3..469ea0d 160000 --- a/robotlib +++ b/robotlib @@ -1 +1 @@ -Subproject commit 18498d30e3eb926d8d74de92db6ccdc807c60349 +Subproject commit 469ea0dd99bea89e7cfc1b70bef98c35cbacaa4a From e76ff0d3616a0600f0d84edd2ffd9002bded8f68 Mon Sep 17 00:00:00 2001 From: MMarcus95 Date: Mon, 6 Jul 2026 21:24:29 +0200 Subject: [PATCH 3/4] cleanup and fix installation instruction --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index be915d4..02a4b4e 100644 --- a/README.md +++ b/README.md @@ -57,8 +57,7 @@ docker run -it --rm \ ghcr.io/iit-dlslab/dls2-dev:latest \ /bin/bash ``` - -## Attach to running container +Remember that to attach another terminal to the already running container you can do ```bash docker exec -it dls_container /bin/bash @@ -66,6 +65,7 @@ docker exec -it dls_container /bin/bash ## Build ```bash +cd dls2-barebone mkdir build && cd build cmake .. make From 575b06c3c7ef518eb494bcdbd0a651f1eec5fca1 Mon Sep 17 00:00:00 2001 From: MMarcus95 Date: Mon, 6 Jul 2026 21:25:08 +0200 Subject: [PATCH 4/4] cosmetics on Run Example + adds-on --- README.md | 43 ++++++++++++++++++++++++++----------------- 1 file changed, 26 insertions(+), 17 deletions(-) diff --git a/README.md b/README.md index 02a4b4e..aca8819 100644 --- a/README.md +++ b/README.md @@ -77,24 +77,33 @@ The first compilation takes a bit of time because it needs to compile all the me To run a simple node example follow these steps: * open a shell, run the container and build the code as explained in the "Open docker image" and "Build" sections above. -```bash -dls --servers --super -``` +* Run the fastdds servers and the supervisor + + ```bash + dls --servers --super + ``` * open a second terminal, launch the console: -```bash -docker exec -it dls_container /bin/bash -``` -```bash -dls -lconsole -``` -load the `hello_world_plugin` -```bash -Supervisor::loadPeriodicAppPlugin hello_world_plugin -``` -and activate the plugin typing: -```bash -hello_world_plugin::activate -``` + ```bash + docker exec -it dls_container /bin/bash + ``` + ```bash + dls -lconsole + ``` +* load the `hello_world_plugin` + ```bash + Supervisor::loadPeriodicAppPlugin hello_world_plugin + ``` + and activate the plugin typing: + ```bash + hello_world_plugin::activate + ``` + + You will see a dummy print in the terminal where you have launched the Supervisor. +* unload the `hello_world_plugin` + ```bash + Supervisor::unloadPeriodicAppPlugin hello_world_plugin + ``` +* stop DLS2 with `CTRL-C` in any of the terminal # Contributing Feel free to open issues and/or PRs!