From 26e6abd14f60799f376e6fc52afd4bb573e402a6 Mon Sep 17 00:00:00 2001 From: Alexander Schaefer Date: Sun, 25 May 2025 17:27:47 +0200 Subject: [PATCH] AS: clean up --- .DS_Store | Bin 6148 -> 8196 bytes workspace/build/.built_by | 1 + workspace/build/COLCON_IGNORE | 0 .../osc_ros2/build/lib/osc_ros2/__init__.py | 0 .../osc_ros2/build/lib/osc_ros2/osc_ros2.py | 1048 +++++++++++++++++ workspace/build/osc_ros2/colcon_build.rc | 1 + .../colcon_command_prefix_setup_py.sh | 1 + .../colcon_command_prefix_setup_py.sh.env | 19 + workspace/build/osc_ros2/install.log | 14 + .../build/osc_ros2/osc_ros2.egg-info/PKG-INFO | 12 + .../osc_ros2/osc_ros2.egg-info/SOURCES.txt | 16 + .../osc_ros2.egg-info/dependency_links.txt | 1 + .../osc_ros2.egg-info/entry_points.txt | 3 + .../osc_ros2/osc_ros2.egg-info/requires.txt | 6 + .../osc_ros2/osc_ros2.egg-info/top_level.txt | 1 + .../build/osc_ros2/osc_ros2.egg-info/zip-safe | 1 + .../__pycache__/sitecustomize.cpython-310.pyc | Bin 0 -> 283 bytes 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workspace/log/build_2025-05-25_15-14-38/osc_ros2/stderr.log create mode 100644 workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log create mode 100644 workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log create mode 100644 workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log create mode 120000 workspace/log/latest create mode 120000 workspace/log/latest_build diff --git a/.DS_Store b/.DS_Store index b65b5f14cef56642050c11c78b2c5ef336ea6da2..885449cf83d908b5243728d504a2145a5b07636e 100644 GIT binary patch delta 155 zcmZoMXmOBWU|?W$DortDU;r^WfEYvza8E20o2aMA$iFdQH}hr%jz7$c**Q2SHn1@A zPkz9nuvv$toN;nBE9Yc4wgwI(b5k7!Q)AP~=h*B;Sr|$fQW=UFO3H$Z@^bR?(m^(C uUcfq^akDzlb7n3HZlHiG$coK^9N(EI^NV;+_UGZ?V1(GtusNP*4l@8~R3c;m delta 112 zcmZp1XfcprU|?W$DortDU=RQ@Ie-{Mvv5r;6q~50$jG}fU^g=(@8kyp3Y&EV${9Cz y3(aAi*l=PoI|qj#Gf*WE2yg=lSCFQSh2NPc^UHXGj9_4b7zeU}VRJms9A*HckQ4;~ diff --git a/workspace/build/.built_by b/workspace/build/.built_by new file mode 100644 index 0000000..06e74ac --- /dev/null +++ b/workspace/build/.built_by @@ -0,0 +1 @@ +colcon diff --git a/workspace/build/COLCON_IGNORE b/workspace/build/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py b/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py b/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py new file mode 100644 index 0000000..6eb5678 --- /dev/null +++ b/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py @@ -0,0 +1,1048 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from rcl_interfaces.msg import Log +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb +from osc4py3 import oscbuildparse +import time +import os +import re +import socket + +class JointNameListener(Node): + def __init__(self): + super().__init__('joint_name_listener') + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_state_callback, + 1 + ) + self.joint_names = None + + def joint_state_callback(self, msg: JointState): + self.joint_names = list(msg.name) + +class OSC_ROS2_interface(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 + ) + + self.subscription = self.create_subscription( + Log, + '/rosout', + self.log_callback, + 100 + ) + + # Store received joint positions + self.current_joint_positions = None + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.desired = None + self.previous_desired = None + self.log_dict = { + 10: "DEBUG", + 20: "INFO", + 30: "WARN", + 40: "ERROR", + 50: "FATAL", + } + self.speed_scaling = 0.2 + self.new = False + self.n_joints = len(joint_names) + + if robot: + while True: + print('+-' * 50) + set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower() + if set_limits == 'y': + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + con = True + while con: + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + con = False + else: + print("Invalid input. Please enter 'y' or 'n'.") + if con: break + except ValueError: + print("Invalid input. Please enter numeric values only.") + break + elif set_limits == 'n': + self.x_limits = [None, None] + self.y_limits = [None, None] + self.z_limits = [None, None] + break + print("Invalid input. Please enter 'y' or 'n'.") + # Ask the user if they want to set new joint limits + while True: + update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + for i in range(len(self.joint_names)): + while True: + try: + lim = self.robot.qlim.copy() + # Find the link corresponding to the joint name + print("-" * 50) + print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + + if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit): + print("Invalid input. Lower limit must be less than upper limit.") + continue + lower_limit = float(lower_limit) if lower_limit!="" else None + upper_limit = float(upper_limit) if upper_limit!="" else None + if lower_limit!=None: + if lower_limitlim[1][i]: + while True: + sure = input(f"Are you sure you want to set the upper limit to {upper_limit} rad which is more than the default limit {lim[1][i]} (y/n)?: ").strip().lower() + if sure == 'y': + lim[1][i] = float(upper_limit) + break + elif sure == 'n': + print("Upper limit not changed.") + break + print("Invalid input. Please enter 'y' or 'n'.") + else: lim[1][i] = float(upper_limit) + self.robot.qlim = lim + print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + print("-" * 50) + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + break + if update_limits == 'n': + break + print("Invalid input. Please enter 'y' or 'n'.") + ''' + use_link_mask = input("Do you want to use a link mask? (y/n): ").strip().lower() + if use_link_mask == 'y': + while True: + try: + ''' + else: + while True: + print('+-' * 50) + update_limits = input("Do you want to set joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + self.joint_lim = [[None]*self.n_joints,[None]*self.n_joints] + for i, joint in enumerate(self.joint_names): + while True: + try: + print("-" * 50) + lower_limit = input(f"Enter the new lower limit for joint '{joint}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{joint}' (or press Enter to keep current): ").strip() + + if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit): + print('--' * 50) + print(" !!! Invalid input. Lower limit must be less than upper limit. !!! ") + continue + self.joint_lim[0][i] = float(lower_limit) if lower_limit!="" else None + self.joint_lim[1][i] = float(upper_limit) if upper_limit!="" else None + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + break + elif update_limits == 'n': + self.joint_lim = None + break + print("Invalid input. Please enter 'y' or 'n'.") + + print(f'New limits for joint:\n lower: {self.joint_lim[0]}\n upper: {self.joint_lim[1]}') + + + while True: + try: + print('+-' * 50) + self.trajectory_topic_name = input("Enter the topic name to which the joint trajectory should be sent (press Enter for default: '/scaled_joint_trajectory_controller/joint_trajectory'): ").strip() + if self.trajectory_topic_name == "": + self.trajectory_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + break + elif self.trajectory_topic_name.startswith("/"): + break + else: + print("Invalid topic name. A valid topic name should start with '/'.") + except Exception as e: + print(f"An error occurred: {e}") + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectory_topic_name, + 1 + ) + + while True: + try: + print('+-' * 50) + log_ip = str(input("Enter the target IP on which you want to recieve the log as OSC Messages (or press Enter for default: '127.0.0.1'): ")) + if log_ip == "": + log_ip = "127.0.0.1" + print('--' * 50) + log_port = input("Enter the target port for the log messages (or press Enter for default: 5005): ") + if log_port == "": + log_port = 5005 + else: + log_port = int(log_port) + break + except ValueError: + print("Invalid input. Please enter a valid IP address.") + continue + while True: + try: + print('+-' * 50) + state_ip = str(input("Enter the target IP on which you want to recieve the joint states as OSC Messages (or press Enter for default: '127.0.0.1'): ")) + if state_ip == "": + state_ip = "127.0.0.1" + print('--' * 50) + state_port = input("Enter the target port for the joint state messages (or press Enter for default: 7000): ") + if state_port == "": + state_port = 7000 + else: + state_port = int(state_port) + break + except ValueError: + print("Invalid input. Please enter a valid IP address.") + continue + while True: + try: + print('+-' * 50) + commands_port = input("Enter the port you want to send your commands to (or press Enter for default: 8000): ") + if commands_port == state_port: + print("The commands port must be different from the state port.") + continue + if commands_port == "": + commands_port = 8000 + else: + commands_port = int(commands_port) + break + except ValueError: + print("Invalid input. Please enter a valid port.") + continue + + + osc_startup() + + osc_udp_client(state_ip, state_port, "osc_client") + + osc_udp_client(log_ip, log_port, "osc_log_client") + + osc_udp_server('0.0.0.0', commands_port, "osc_server") + + # Register OSC handler + osc_method("/joint_positions", self.joint_positions_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/joint_position/*", self.joint_position_handler, argscheme=osm.OSCARG_ADDRESS+osm.OSCARG_DATAUNPACK) + osc_method("/tcp_coordinates", self.tcp_coordinates_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/joint_trajectory", self.joint_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/cartesian_trajectory", self.cartesian_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/speed_scaling", self.speed_scaling_handler, argscheme=osm.OSCARG_DATAUNPACK) + print('--' * 50) + while True: + try: + print('+-' * 50) + self.hz = input("Enter the desired refresh frequency (Hz) (or press Enter for default: 100): ") + if self.hz == "": + self.hz = 100 + else: + self.hz = float(self.hz) + break + except ValueError: + print("Invalid input. Please enter a valid number.") + continue + print() + print('=-=' * 50) + print() + print(f'Sending joint states to {state_ip}:{state_port}') + print() + print('=-=' * 50) + print() + print(f'Sending log messages to {log_ip}:{log_port}') + print() + print('=-=' * 50) + print() + print(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}') + print() + print('=-=' * 50) + print() + + self.get_logger().info(f"Publishing joint trajectory to {self.trajectory_topic_name}") + self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}') + self.get_logger().info(f'Sending joint states to {state_ip}:{state_port}') + self.get_logger().info(f'Sending log messages to {log_ip}:{log_port}') + self.create_timer(1/self.hz, self.update_position) # Timer to update the position + self.create_timer(3, self.reset_prev) # reset the previous desired position + + def reset_prev(self): self.previous_desired = None + + def speed_scaling_handler(self, *args): + """Handles incoming OSC messages for speed scaling.""" + try: + if len(args) == 1: + if args[0] < 0: + self.speed_scaling = -float(args[0]) + else: + self.speed_scaling = float(args[0]) + if self.speed_scaling > 1: + self.get_logger().warn(f"speed_scaling_handler: Attention! Speed scaling {self.speed_scaling} is greater than 1!") + self.get_logger().info(f"Speed scaling set to {self.speed_scaling}") + else: + self.get_logger().warn(f"Invalid number of arguments for speed scaling. Expected 1, but got {len(args)}.") + except Exception as e: + self.get_logger().fatal(f"speed_scaling_handler: {e}") + + def joint_trajectory_handler(self, *args): + try: + if len(args[0]) == 6: + points = [[float(j) for j in i] for i in args] + elif len(args[0]) >= 7: + points = [[float(j) for j in i[:6]] for i in args] + self.get_logger().warn(f"joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.") + else: + self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.") + return + + self.desired = ["joint_trajectory"] + points + self.new = True + except Exception as e: + self.get_logger().fatal(f"joint_trajectory_handler: {e}") + + def joint_position_handler(self, address, *args): + """Handles incoming OSC messages for joint positions.""" + try: + joint_name = address.split("/")[-1] + + if joint_name in self.joint_names: + if len(args) == 1: + position = float(args[0]) + index = self.joint_names.index(joint_name) + if self.robot: + if position < self.robot.qlim[0][index]: + position = self.robot.qlim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}." + ) + elif position > self.robot.qlim[1][index]: + position = self.robot.qlim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}." + ) + else: + if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]: + position = self.joint_lim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}." + ) + elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]: + position = self.joint_lim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}." + ) + desired_joint_positions = self.current_joint_positions + desired_joint_positions[index] = position + self.desired = ["joint_positions"] + desired_joint_positions + self.new = True + elif len(args) == 2: + position = float(args[0]) + duration = float(args[1]) + index = self.joint_names.index(joint_name) + if self.robot: + if position < self.robot.qlim[0][index]: + position = self.robot.qlim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}." + ) + elif position > self.robot.qlim[1][index]: + position = self.robot.qlim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}." + ) + else: + if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]: + position = self.joint_lim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}." + ) + elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]: + position = self.joint_lim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}." + ) + desired_joint_positions = self.current_joint_positions + desired_joint_positions[index] = position + self.desired = ["joint_positions"] + desired_joint_positions + [duration] + self.new = True + else: + self.get_logger().warn(f"joint_position_handler: Invalid number of arguments for joint position. Expected 1, but got {len(args)}.") + else: + self.get_logger().warn(f"joint_position_handler: Joint '{joint_name}' not found in the robot model.") + except Exception as e: + self.get_logger().fatal(f"joint_position_handler: {e}") + + + def cartesian_trajectory_handler(self, *args): + """Handles incoming OSC messages for cartesian trajectory.""" + if self.robot: + try: + if len(args[0]) == 6: + points = [[float(j) for j in i] for i in args] + elif len(args[0]) >= 7: + points = [[float(j) for j in i[:6]] for i in args] + self.get_logger().warn(f"cartesian_trajectory_handler: Duration is not supported for cartesian trajectory yet. Ignoring duration.") + else: + self.get_logger().warn(f"cartesian_trajectory_handler: Invalid number of arguments for cartesian trajectory. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args[0])}.") + return + + self.desired = ["cartesian_trajectory"] + points + self.new = True + except Exception as e: + self.get_logger().fatal(f"cartesian_trajectory_handler: {e}") + else: + self.get_logger().warn("cartesian_trajectory_handler: No robot model provided. Cannot handle cartesian trajectory.") + return + + def joint_positions_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + if len(args) == len(self.joint_names): + desired_joint_positions = [float(i) for i in list(args)] + elif len(args) == len(self.joint_names) + 1: + desired_joint_positions = [float(i) for i in list(args)] + else: + self.get_logger().warn(f"joint_positions_handler: Invalid number of arguments for joint positions. Expected {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]) or {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]), but got {len(args)}.") + return + + # Check if joint positions exceed limits + if self.robot: + for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]): # Exclude duration if present + if position < self.robot.qlim[0][i]: + desired_joint_positions[i] = self.robot.qlim[0][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[0][i]}." + ) + elif position > self.robot.qlim[1][i]: + desired_joint_positions[i] = self.robot.qlim[1][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[1][i]}." + ) + else: + for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]): + if self.joint_lim[0][i] is not None and position < self.joint_lim[0][i]: + desired_joint_positions[i] = self.joint_lim[0][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}." + ) + elif self.joint_lim[1][i] is not None and position > self.joint_lim[1][i]: + desired_joint_positions[i] = self.joint_lim[1][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}." + ) + + self.desired = ["joint_positions"] + desired_joint_positions + self.new = True + except Exception as e: + self.get_logger().fatal(f"joint_positions_handler: {e}") + return + + def tcp_coordinates_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + if self.robot: + try: + if len(args) == 6: + x, y, z, r, p, yaw = [float(i) for i in list(args)] + duration = None + elif len(args) >= 7: + x, y, z, r, p, yaw, duration, *_ = [float(i) for i in list(args)] + else: + self.get_logger().warn(f"tcp_coordinates_handler: Invalid number of arguments for TCP coordinates. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args)}.") + return + + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"tcp_coordinates_handler: Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired = ["tcp_coordinates", x, y, z, r, p, yaw, duration] + self.new = True + except Exception as e: + self.get_logger().fatal(f"tcp_coordinates_handler: {e}") + else: + self.get_logger().warn("tcp_coordinates_handler: No robot model provided. Cannot handle TCP coordinates.") + return + + + def joint_states_callback(self, msg: JointState): + """Callback function to handle incoming joint states.""" + try: + msg_time = oscbuildparse.OSCMessage(f"/time", ',s', [str(time.time())]) + osc_send(msg_time, "osc_client") + if not(self.joint_names): self.joint_names = msg.name + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [float(joint_position_dict[name]) for name in self.joint_names] + joint_position_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [float(joint_position_dict[name]) for name in self.joint_names] + + if self.robot: + tcp_position = self.robot.fkine(self.current_joint_positions).t + tcp_orientation = self.robot.fkine(self.current_joint_positions).rpy() + + msg_tcp = oscbuildparse.OSCMessage(f"/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]]) + #msg_x = oscbuildparse.OSCMessage(f"/tcp_coordinates/x", ',f', [tcp_position[0]]) + #msg_y = oscbuildparse.OSCMessage(f"/tcp_coordinates/y", ',f', [tcp_position[1]]) + #msg_z = oscbuildparse.OSCMessage(f"/tcp_coordinates/z", ',f', [tcp_position[2]]) + #msg_roll = oscbuildparse.OSCMessage(f"/tcp_coordinates/roll", ',f', [tcp_orientation[0]]) + #msg_pitch = oscbuildparse.OSCMessage(f"/tcp_coordinates/pitch", ',f', [tcp_orientation[1]]) + #msg_yaw = oscbuildparse.OSCMessage(f"/tcp_coordinates/yaw", ',f', [tcp_orientation[2]]) + #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_tcp, msg_x, msg_y, msg_z, msg_roll, msg_pitch, msg_yaw]) + #osc_send(bun, "osc_client") + osc_send(msg_tcp, "osc_client") + + msg_position = oscbuildparse.OSCMessage(f"/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position]) + msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity]) + msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort]) + msg_name = oscbuildparse.OSCMessage(f"/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name]) + bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_name, msg_position, msg_velocity, msg_effort]) + osc_send(bun, "osc_client") + + #for i, name in enumerate(msg.name): + # msg_position = oscbuildparse.OSCMessage(f"/joint_state/position/{name}", ',f', [msg.position[i]]) + # msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity/{name}", ',f', [msg.velocity[i]]) + # msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort/{name}", ',f', [msg.effort[i]]) + # bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_position, msg_velocity, msg_effort]) + # osc_send(bun, "osc_client") + + except Exception as e: + self.get_logger().fatal(f"joint_states_callback: {e}") + + def send_joint_positions(self): + self.previous_desired = None + self.new = False + try: + if len(self.desired) == len(self.joint_names) + 2: + desired_joint_positions = [float(i) for i in self.desired[1:-1]] + duration = self.desired[-1] + msg = JointTrajectory() + msg.joint_names = self.joint_names + point = JointTrajectoryPoint() + point.positions = desired_joint_positions + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + self.publisher.publish(msg) + elif len(self.desired) == len(self.joint_names) + 1: + desired_joint_positions = [float(i) for i in self.desired[1:]] + msg = JointTrajectory() + msg.joint_names = self.joint_names + point = JointTrajectoryPoint() + point.positions = desired_joint_positions + duration = 0 + for p1, p2, max_vel in zip(desired_joint_positions, self.current_joint_positions, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel) + duration = duration + min(2, 0.2*duration) + duration /= self.speed_scaling + if duration == 0: + self.get_logger().warn("send_joint_positions: Duration is 0.") + return + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + self.publisher.publish(msg) + else: + self.get_logger().warn(f"send_joint_positions: Invalid number of arguments for joint positions. Expected {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]) or {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]), but got {len(self.desired)}.") + return + except Exception as e: + self.get_logger().fatal(f"send_joint_positions: {e}") + return + + def trapezoidal_timestamps(self, num_points,total_duration, flat_ratio = 0.3): + + if num_points == 2: + return [0, total_duration] + n = int(num_points*(1-flat_ratio)/2) + start = np.cos(np.linspace(0, np.pi, n))+2 + end = np.cos(np.linspace(-np.pi, 0, n))+2 + flat = np.ones(num_points-2*n) + + timestamps = np.concatenate((start, flat, end)) + timestamps *= total_duration / timestamps.sum() + timestamps = np.cumsum(timestamps) + + return timestamps.tolist() + + + def send_tcp_coordinates(self): + """Send the desired TCP coordinates to the robot.""" + try: + self.new = False + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 100 + if self.previous_desired == None: + [x,y,z] = self.robot.fkine(self.current_joint_positions).t + [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy() + else: + [x,y,z] = self.previous_desired[1:4] + [roll, pitch, yaw] = self.previous_desired[4:-1] + x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7] + self.previous_desired = self.desired + steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + '''if self.previous_desired: + [x,y,z] = self.previous_desired[1:4] + q0 = sm.UnitQuaternion.RPY(self.previous_desired[3], self.previous_desired[4], self.previous_desired[5]) + else: + [x, y, z] = self.robot.fkine(self.current_joint_positions).t + q0 = sm.UnitQuaternion(self.robot.fkine(self.current_joint_positions).R) + + x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7] + q1 = sm.UnitQuaternion.RPY(roll1, pitch1, yaw1) + + steps = int(np.linalg.norm(np.array([x1, y1, z1]) - self.robot.fkine(self.current_joint_positions).t) * steps_per_m) + if steps < 2: + steps = 2 + + cart_traj = [] + for i in range(steps): + alpha = i / (steps - 1) + + # Convert to arrays for robust interpolation if needed + q0_array = q0.vec + q1_array = q1.vec + dot = np.dot(q0_array, q1_array) + dot = np.clip(dot, -1.0, 1.0) + + if abs(dot) > 0.9995: + # Linear interpolation + normalization + q_interp_array = (1 - alpha) * q0_array + alpha * q1_array + q_interp_array = q_interp_array / np.linalg.norm(q_interp_array) + q_interp = sm.UnitQuaternion(q_interp_array) + else: + q_interp = q0.interp(q1, alpha) + + # Interpolate translation + pos_interp = [ + x + (x1 - x) * alpha, + y + (y1 - y) * alpha, + z + (z1 - z) * alpha + ] + + # Compose SE3 transform + cart_traj.append(sm.SE3(pos_interp) * q_interp.SE3())''' + + + + if self.desired[-1]: + timestamps = self.trapezoidal_timestamps(steps, self.desired[-1], 0.8) + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan') + if sol[1] == 1: + fowards = self.robot.fkine_all(sol[0]) + out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False) + if np.any(out_of_bounds): + #print(fowards.t) + #indices = np.where(out_of_bounds)[0] + #print(f"indices: {indices}") + self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!") + ''' + for i in indices: + try: + print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}") + except IndexError: + print(f"index {i} is out of bounds, but no corresponding joint found.") + self.previous_desired_tcp_position = self.desired_tcp_position + ''' + break + duration = timestamps[j] + if duration == 0: + prev_sol = list(sol[0]) + continue + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: + self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!") + prev_sol = self.current_joint_positions + if len(msg.points) == 0: + self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.") + self.previous_desired = self.desired + return + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired + + + + else: + prev_duration = 0 + ''' + if self.previous_desired == None: + [x,y,z] = self.robot.fkine(self.current_joint_positions).t + [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy() + else: + [x,y,z] = self.previous_desired[:3] + [roll, pitch, yaw] = self.previous_desired[3:] + ''' + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan') + if sol[1] == 1: + fowards = self.robot.fkine_all(sol[0]) + out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False) + if np.any(out_of_bounds): + #print(fowards.t) + #indices = np.where(out_of_bounds)[0] + #print(f"indices: {indices}") + self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!") + ''' + for i in indices: + try: + print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}") + except IndexError: + print(f"index {i} is out of bounds, but no corresponding joint found.") + self.previous_desired_tcp_position = self.desired_tcp_position + ''' + break + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + prev_sol = list(sol[0]) + if duration == 0: + continue + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration *= 1.2 + duration /= self.speed_scaling + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + else: + self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!") + prev_sol = self.current_joint_positions + if len(msg.points) == 0: + self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.") + self.previous_desired = self.desired + return + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired + except Exception as e: + self.get_logger().fatal(f"send_tcp_coordinates: {e}") + + def send_joint_trajectory(self): + + try: + self.new = False + viapoints = np.array([i for i in self.desired[1:]]) + msg = JointTrajectory() + msg.joint_names = self.joint_names + traj = rtb.mstraj(viapoints, q0 = self.current_joint_positions ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=[self.speed_scaling*i for i in self.joint_velocity_limits.values()]) + msg.points = [] + for i in range(len(traj.q)): + point = JointTrajectoryPoint() + point.positions = list(traj.q[i]) + point.time_from_start.sec = int(traj.t[i]) + point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9) + msg.points.append(point) + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = None + except Exception as e: + print(f'Error in joint_angles_handler: {e}') + + def send_cartesian_trajectory(self): + + try: + self.new = False + viapoints = np.array([i[:6] for i in self.desired[1:]]) + msg = JointTrajectory() + msg.joint_names = self.joint_names + x,y,z = self.robot.fkine(self.current_joint_positions).t + r,p,yaw = self.robot.fkine(self.current_joint_positions).rpy() + q0 = [x, y, z, r, p, yaw] + traj = rtb.mstraj(viapoints, q0 = q0 ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=2*self.speed_scaling) + msg.points = [] + prev_sol = self.current_joint_positions + n = max(int(len(traj.q)/200), 1) + for i in range(len(traj.q)): + T = sm.SE3(traj.q[i][:3]) * sm.SE3.RPY(traj.q[i][3:], order='xyz') + sol = self.robot.ik_LM(T, q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + point.time_from_start.sec = int(traj.t[i]) + if traj.t[i] == 0: + continue + point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: self.get_logger().warn(f"send_cartesian_trajectory: IK could not find a solution for (x,y,z) = {traj.q[i][:3]} and (r,p,y) = {traj.q[i][3:]}!") + msg.header.stamp = self.get_clock().now().to_msg() + msg.points = msg.points[::n] + self.publisher.publish(msg) + self.previous_desired = None + except Exception as e: + print(f'Error in joint_angles_handler: {e}') + + self.previous_desired = None + + def update_position(self): + """Calls the appropriate function to update the robot's position.""" + try: + if self.desired is None or not(self.new): + return + + if self.desired[0] == "joint_positions": + self.new = False + self.send_joint_positions() + return + elif self.desired[0] == "tcp_coordinates": + self.new = False + self.send_tcp_coordinates() + return + elif self.desired[0] == "joint_trajectory": + self.new = False + self.send_joint_trajectory() + return + elif self.desired[0] == "cartesian_trajectory": + self.new = False + self.send_cartesian_trajectory() + return + else: + self.get_logger().warn(f"update_position: Unknown desired type '{self.desired[0]}'.") + return + + + except Exception as e: + self.get_logger().fatal(f'update_position: {e}') + + + def clean_log_string(self, s): + + s = str(s) + + # Remove ANSI escape sequences (e.g., \x1b[31m) + ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])') + s = ansi_escape.sub('', s) + + # Replace tabs/newlines with spaces + s = s.replace('\n', ' ').replace('\r', ' ').replace('\t', ' ').replace("'", ' '). replace('"', ' ').replace('`', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ') + + # Strip leading/trailing whitespace + s = s.strip() + + # Optionally enforce ASCII only (replace non-ASCII chars with '?') + s = s.encode('ascii', 'replace').decode('ascii') + + return s + + + def log_callback(self, msg: Log): + """Callback function to handle incoming log messages.""" + + # Send the log message as an OSC message + msg_log = oscbuildparse.OSCMessage(f"/log/{self.log_dict.get(msg.level, 'UNKNOWN')}", ',isss', [int(msg.level), str(msg.stamp.sec+msg.stamp.nanosec*1e-9) , str(msg.name), self.clean_log_string(msg.msg)]) + osc_send(msg_log, "osc_log_client") + + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + rclpy.init() + while True: + use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower() + if use_urdf == 'y': + while True: + robot_urdf = input("Enter the absolute path to the URDF file: ") + if os.path.isfile(robot_urdf): + if not robot_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(robot_urdf) + root = tree.getroot() + robot = rtb.ERobot.URDF(robot_urdf) + joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic'] + print(robot) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + while True: + try: + print('-+'*50) + print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].") + print("The cost mask 111000 means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if cost_mask[i]==1]}") + break + elif use_urdf == 'n': + node = JointNameListener() + print("Wainting 10 sec for JointState messages to extract joint names...") + rclpy.spin_once(node) + counter = 0 + while not(node.joint_names): + if counter > 100: + joint_names = None + break + counter+=1 + time.sleep(0.1) + rclpy.spin_once(node) + joint_names = node.joint_names + node.destroy_node() + if joint_names: + correct_names = input("The following joint names were found:\n" + "\n".join(joint_names) + "\nAre these correct? (y/n): ").strip().lower() + while True: + if correct_names == 'y': + break + elif correct_names == 'n': + joint_names = None + break + correct_names = input("Invalid input. Please enter 'y' or 'n'.") + if not(joint_names): + print("Please enter the joint names manually.") + while True: + joint_names = [] + print('-+'*50) + print("Enter the joint names manually one by one. Type 'done' when you are finished:") + print("Attention: The order of the joints is important. It should be the same in which you want to send the joint positions.") + while True: + print('-'*50) + joint_name = input("Enter joint name (or 'done' to finish): ").strip() + if joint_name.lower() == 'done': + break + if joint_name: + joint_names.append(joint_name) + print('-+'*50) + correct_names = input(f"Are those the joint names as defined in your JointTrajectroy recieving Node?: {joint_names}. (y/n)?: ").strip() + if correct_names.lower() == 'y': + break + else: + print("Please re-enter the joint names.") + while True: + try: + joint_velocity_limits = {} + for name in joint_names: + while True: + try: + print('--'*50) + limit = input(f"Enter the velocity limit for joint '{name}': ").strip() + if limit == "": + continue + else: + joint_velocity_limits[name] = float(limit) + break + except ValueError: + print("Invalid input. Please enter a numeric value or press Enter to skip.") + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to skip.") + robot = None + cost_mask = None + break + print("Invalid input. Please enter 'y' or 'n'.") + + + node = OSC_ROS2_interface(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/build/osc_ros2/colcon_build.rc b/workspace/build/osc_ros2/colcon_build.rc new file mode 100644 index 0000000..573541a --- /dev/null +++ b/workspace/build/osc_ros2/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh new file mode 100644 index 0000000..f9867d5 --- /dev/null +++ b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh @@ -0,0 +1 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em diff --git a/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env new file mode 100644 index 0000000..c73f6a0 --- /dev/null +++ b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env @@ -0,0 +1,19 @@ +AMENT_PREFIX_PATH=/opt/ros/humble +COLCON=1 +HOME=/root +HOSTNAME=0e38e264ac6b +LANG=C.UTF-8 +LC_ALL=C.UTF-8 +LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib +LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: +OLDPWD=/BA +PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin +PWD=/BA/workspace/build/osc_ros2 +PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages +ROS_DISTRO=humble +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SHLVL=1 +TERM=xterm +_=/usr/bin/colcon diff --git a/workspace/build/osc_ros2/install.log b/workspace/build/osc_ros2/install.log new file mode 100644 index 0000000..8ab07e3 --- /dev/null +++ b/workspace/build/osc_ros2/install.log @@ -0,0 +1,14 @@ +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/osc_ros2.cpython-310.pyc +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/__init__.cpython-310.pyc +/BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2 +/BA/workspace/install/osc_ros2/share/osc_ros2/package.xml +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/zip-safe +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/top_level.txt +/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt +/BA/workspace/install/osc_ros2/lib/osc_ros2/interface diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO b/workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO new file mode 100644 index 0000000..275623c --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO @@ -0,0 +1,12 @@ +Metadata-Version: 2.1 +Name: osc-ros2 +Version: 1.0.0 +Summary: Creates an interface for communication between OSC and Ros2 +Home-page: UNKNOWN +Maintainer: Alexander Schaefer +Maintainer-email: a.schaefer@tuhh.de +License: Apache-2.0 +Platform: UNKNOWN + +UNKNOWN + diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt new file mode 100644 index 0000000..650a016 --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt @@ -0,0 +1,16 @@ +package.xml +setup.cfg +setup.py +../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO +../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt +../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt +../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt +../../build/osc_ros2/osc_ros2.egg-info/requires.txt +../../build/osc_ros2/osc_ros2.egg-info/top_level.txt +../../build/osc_ros2/osc_ros2.egg-info/zip-safe +osc_ros2/__init__.py +osc_ros2/osc_ros2.py +resource/osc_ros2 +test/test_copyright.py +test/test_flake8.py +test/test_pep257.py \ No newline at end of file diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt new file mode 100644 index 0000000..008581c --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt @@ -0,0 +1,3 @@ +[console_scripts] +interface = osc_ros2.osc_ros2:main + diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt new file mode 100644 index 0000000..c78337e --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt @@ -0,0 +1,6 @@ +numpy==1.22.4 +osc4py3 +roboticstoolbox-python==1.1.1 +scipy==1.7.3 +setuptools +spatialmath-python==1.1.14 diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt new file mode 100644 index 0000000..99ee4eb --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt @@ -0,0 +1 @@ +osc_ros2 diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe b/workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe @@ -0,0 +1 @@ + diff --git a/workspace/build/osc_ros2/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/workspace/build/osc_ros2/prefix_override/__pycache__/sitecustomize.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..2f82eebe0694db39782da446e3f7c7f2ee26d9d3 GIT binary patch literal 283 zcmY*Vu};H44D}_aDk`eP!ph#IC$%e}wjaRKjpY<_Mm>7vB0HgN{(w*6mol(0@e2$U z4sB7f-%vI2GUl5T2DwRta5o48bNY)v~o6 zPn}xG-2#UCOFVGjXj3ya*JeI5n@B4z^8$^3;VKWoL@q2v9uIY!@{ZeHN%-Wq?FC^T z>`CAji=%i4>PhS`eBb^LeXM*(r$cS;hu N`$PtPm8nam_dg0GO+5er literal 0 HcmV?d00001 diff --git a/workspace/build/osc_ros2/prefix_override/sitecustomize.py b/workspace/build/osc_ros2/prefix_override/sitecustomize.py new file mode 100644 index 0000000..e2319f7 --- /dev/null +++ b/workspace/build/osc_ros2/prefix_override/sitecustomize.py @@ -0,0 +1,4 @@ +import sys +if sys.prefix == '/usr': + sys.real_prefix = sys.prefix + sys.prefix = sys.exec_prefix = '/BA/workspace/install/osc_ros2' diff --git a/workspace/install/.colcon_install_layout b/workspace/install/.colcon_install_layout new file mode 100644 index 0000000..3aad533 --- /dev/null +++ b/workspace/install/.colcon_install_layout @@ -0,0 +1 @@ +isolated diff --git a/workspace/install/COLCON_IGNORE b/workspace/install/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/workspace/install/_local_setup_util_ps1.py b/workspace/install/_local_setup_util_ps1.py new file mode 100644 index 0000000..3c6d9e8 --- /dev/null +++ b/workspace/install/_local_setup_util_ps1.py @@ -0,0 +1,407 @@ +# Copyright 2016-2019 Dirk Thomas +# Licensed under the Apache License, Version 2.0 + +import argparse +from collections import OrderedDict +import os +from pathlib import Path +import sys + + +FORMAT_STR_COMMENT_LINE = '# {comment}' +FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"' +FORMAT_STR_USE_ENV_VAR = '$env:{name}' +FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501 +FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501 +FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501 + +DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' +DSV_TYPE_SET = 'set' +DSV_TYPE_SET_IF_UNSET = 'set-if-unset' +DSV_TYPE_SOURCE = 'source' + + +def main(argv=sys.argv[1:]): # noqa: D103 + parser = argparse.ArgumentParser( + description='Output shell commands for the packages in topological ' + 'order') + parser.add_argument( + 'primary_extension', + help='The file extension of the primary shell') + parser.add_argument( + 'additional_extension', nargs='?', + help='The additional file extension to be considered') + parser.add_argument( + '--merged-install', action='store_true', + help='All install prefixes are merged into a single location') + args = parser.parse_args(argv) + + packages = get_packages(Path(__file__).parent, args.merged_install) + + ordered_packages = order_packages(packages) + for pkg_name in ordered_packages: + if _include_comments(): + print( + FORMAT_STR_COMMENT_LINE.format_map( + {'comment': 'Package: ' + pkg_name})) + prefix = os.path.abspath(os.path.dirname(__file__)) + if not args.merged_install: + prefix = os.path.join(prefix, pkg_name) + for line in get_commands( + pkg_name, prefix, args.primary_extension, + args.additional_extension + ): + print(line) + + for line in _remove_ending_separators(): + print(line) + + +def get_packages(prefix_path, merged_install): + """ + Find packages based on colcon-specific files created during installation. + + :param Path prefix_path: The install prefix path of all packages + :param bool merged_install: The flag if the packages are all installed + directly in the prefix or if each package is installed in a subdirectory + named after the package + :returns: A mapping from the package name to the set of runtime + dependencies + :rtype: dict + """ + packages = {} + # since importing colcon_core isn't feasible here the following constant + # must match colcon_core.location.get_relative_package_index_path() + subdirectory = 'share/colcon-core/packages' + if merged_install: + # return if workspace is empty + if not (prefix_path / subdirectory).is_dir(): + return packages + # find all files in the subdirectory + for p in (prefix_path / subdirectory).iterdir(): + if not p.is_file(): + continue + if p.name.startswith('.'): + continue + add_package_runtime_dependencies(p, packages) + else: + # for each subdirectory look for the package specific file + for p in prefix_path.iterdir(): + if not p.is_dir(): + continue + if p.name.startswith('.'): + continue + p = p / subdirectory / p.name + if p.is_file(): + add_package_runtime_dependencies(p, packages) + + # remove unknown dependencies + pkg_names = set(packages.keys()) + for k in packages.keys(): + packages[k] = {d for d in packages[k] if d in pkg_names} + + return packages + + +def add_package_runtime_dependencies(path, packages): + """ + Check the path and if it exists extract the packages runtime dependencies. + + :param Path path: The resource file containing the runtime dependencies + :param dict packages: A mapping from package names to the sets of runtime + dependencies to add to + """ + content = path.read_text() + dependencies = set(content.split(os.pathsep) if content else []) + packages[path.name] = dependencies + + +def order_packages(packages): + """ + Order packages topologically. + + :param dict packages: A mapping from package name to the set of runtime + dependencies + :returns: The package names + :rtype: list + """ + # select packages with no dependencies in alphabetical order + to_be_ordered = list(packages.keys()) + ordered = [] + while to_be_ordered: + pkg_names_without_deps = [ + name for name in to_be_ordered if not packages[name]] + if not pkg_names_without_deps: + reduce_cycle_set(packages) + raise RuntimeError( + 'Circular dependency between: ' + ', '.join(sorted(packages))) + pkg_names_without_deps.sort() + pkg_name = pkg_names_without_deps[0] + to_be_ordered.remove(pkg_name) + ordered.append(pkg_name) + # remove item from dependency lists + for k in list(packages.keys()): + if pkg_name in packages[k]: + packages[k].remove(pkg_name) + return ordered + + +def reduce_cycle_set(packages): + """ + Reduce the set of packages to the ones part of the circular dependency. + + :param dict packages: A mapping from package name to the set of runtime + dependencies which is modified in place + """ + last_depended = None + while len(packages) > 0: + # get all remaining dependencies + depended = set() + for pkg_name, dependencies in packages.items(): + depended = depended.union(dependencies) + # remove all packages which are not dependent on + for name in list(packages.keys()): + if name not in depended: + del packages[name] + if last_depended: + # if remaining packages haven't changed return them + if last_depended == depended: + return packages.keys() + # otherwise reduce again + last_depended = depended + + +def _include_comments(): + # skipping comment lines when COLCON_TRACE is not set speeds up the + # processing especially on Windows + return bool(os.environ.get('COLCON_TRACE')) + + +def get_commands(pkg_name, prefix, primary_extension, additional_extension): + commands = [] + package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') + if os.path.exists(package_dsv_path): + commands += process_dsv_file( + package_dsv_path, prefix, primary_extension, additional_extension) + return commands + + +def process_dsv_file( + dsv_path, prefix, primary_extension=None, additional_extension=None +): + commands = [] + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path})) + with open(dsv_path, 'r') as h: + content = h.read() + lines = content.splitlines() + + basenames = OrderedDict() + for i, line in enumerate(lines): + # skip over empty or whitespace-only lines + if not line.strip(): + continue + # skip over comments + if line.startswith('#'): + continue + try: + type_, remainder = line.split(';', 1) + except ValueError: + raise RuntimeError( + "Line %d in '%s' doesn't contain a semicolon separating the " + 'type from the arguments' % (i + 1, dsv_path)) + if type_ != DSV_TYPE_SOURCE: + # handle non-source lines + try: + commands += handle_dsv_types_except_source( + type_, remainder, prefix) + except RuntimeError as e: + raise RuntimeError( + "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e + else: + # group remaining source lines by basename + path_without_ext, ext = os.path.splitext(remainder) + if path_without_ext not in basenames: + basenames[path_without_ext] = set() + assert ext.startswith('.') + ext = ext[1:] + if ext in (primary_extension, additional_extension): + basenames[path_without_ext].add(ext) + + # add the dsv extension to each basename if the file exists + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if os.path.exists(basename + '.dsv'): + extensions.add('dsv') + + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if 'dsv' in extensions: + # process dsv files recursively + commands += process_dsv_file( + basename + '.dsv', prefix, primary_extension=primary_extension, + additional_extension=additional_extension) + elif primary_extension in extensions and len(extensions) == 1: + # source primary-only files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + primary_extension})] + elif additional_extension in extensions: + # source non-primary files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + additional_extension})] + + return commands + + +def handle_dsv_types_except_source(type_, remainder, prefix): + commands = [] + if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): + try: + env_name, value = remainder.split(';', 1) + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the value') + try_prefixed_value = os.path.join(prefix, value) if value else prefix + if os.path.exists(try_prefixed_value): + value = try_prefixed_value + if type_ == DSV_TYPE_SET: + commands += _set(env_name, value) + elif type_ == DSV_TYPE_SET_IF_UNSET: + commands += _set_if_unset(env_name, value) + else: + assert False + elif type_ in ( + DSV_TYPE_APPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS + ): + try: + env_name_and_values = remainder.split(';') + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the values') + env_name = env_name_and_values[0] + values = env_name_and_values[1:] + for value in values: + if not value: + value = prefix + elif not os.path.isabs(value): + value = os.path.join(prefix, value) + if ( + type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and + not os.path.exists(value) + ): + comment = f'skip extending {env_name} with not existing ' \ + f'path: {value}' + if _include_comments(): + commands.append( + FORMAT_STR_COMMENT_LINE.format_map({'comment': comment})) + elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: + commands += _append_unique_value(env_name, value) + else: + commands += _prepend_unique_value(env_name, value) + else: + raise RuntimeError( + 'contains an unknown environment hook type: ' + type_) + return commands + + +env_state = {} + + +def _append_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # append even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional leading separator + extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': extend + value}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +def _prepend_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # prepend even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional trailing separator + extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value + extend}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +# generate commands for removing prepended underscores +def _remove_ending_separators(): + # do nothing if the shell extension does not implement the logic + if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: + return [] + + global env_state + commands = [] + for name in env_state: + # skip variables that already had values before this script started prepending + if name in os.environ: + continue + commands += [ + FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), + FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] + return commands + + +def _set(name, value): + global env_state + env_state[name] = value + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + return [line] + + +def _set_if_unset(name, value): + global env_state + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + if env_state.get(name, os.environ.get(name)): + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +if __name__ == '__main__': # pragma: no cover + try: + rc = main() + except RuntimeError as e: + print(str(e), file=sys.stderr) + rc = 1 + sys.exit(rc) diff --git a/workspace/install/_local_setup_util_sh.py b/workspace/install/_local_setup_util_sh.py new file mode 100644 index 0000000..f67eaa9 --- /dev/null +++ b/workspace/install/_local_setup_util_sh.py @@ -0,0 +1,407 @@ +# Copyright 2016-2019 Dirk Thomas +# Licensed under the Apache License, Version 2.0 + +import argparse +from collections import OrderedDict +import os +from pathlib import Path +import sys + + +FORMAT_STR_COMMENT_LINE = '# {comment}' +FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"' +FORMAT_STR_USE_ENV_VAR = '${name}' +FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501 +FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501 +FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501 + +DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' +DSV_TYPE_SET = 'set' +DSV_TYPE_SET_IF_UNSET = 'set-if-unset' +DSV_TYPE_SOURCE = 'source' + + +def main(argv=sys.argv[1:]): # noqa: D103 + parser = argparse.ArgumentParser( + description='Output shell commands for the packages in topological ' + 'order') + parser.add_argument( + 'primary_extension', + help='The file extension of the primary shell') + parser.add_argument( + 'additional_extension', nargs='?', + help='The additional file extension to be considered') + parser.add_argument( + '--merged-install', action='store_true', + help='All install prefixes are merged into a single location') + args = parser.parse_args(argv) + + packages = get_packages(Path(__file__).parent, args.merged_install) + + ordered_packages = order_packages(packages) + for pkg_name in ordered_packages: + if _include_comments(): + print( + FORMAT_STR_COMMENT_LINE.format_map( + {'comment': 'Package: ' + pkg_name})) + prefix = os.path.abspath(os.path.dirname(__file__)) + if not args.merged_install: + prefix = os.path.join(prefix, pkg_name) + for line in get_commands( + pkg_name, prefix, args.primary_extension, + args.additional_extension + ): + print(line) + + for line in _remove_ending_separators(): + print(line) + + +def get_packages(prefix_path, merged_install): + """ + Find packages based on colcon-specific files created during installation. + + :param Path prefix_path: The install prefix path of all packages + :param bool merged_install: The flag if the packages are all installed + directly in the prefix or if each package is installed in a subdirectory + named after the package + :returns: A mapping from the package name to the set of runtime + dependencies + :rtype: dict + """ + packages = {} + # since importing colcon_core isn't feasible here the following constant + # must match colcon_core.location.get_relative_package_index_path() + subdirectory = 'share/colcon-core/packages' + if merged_install: + # return if workspace is empty + if not (prefix_path / subdirectory).is_dir(): + return packages + # find all files in the subdirectory + for p in (prefix_path / subdirectory).iterdir(): + if not p.is_file(): + continue + if p.name.startswith('.'): + continue + add_package_runtime_dependencies(p, packages) + else: + # for each subdirectory look for the package specific file + for p in prefix_path.iterdir(): + if not p.is_dir(): + continue + if p.name.startswith('.'): + continue + p = p / subdirectory / p.name + if p.is_file(): + add_package_runtime_dependencies(p, packages) + + # remove unknown dependencies + pkg_names = set(packages.keys()) + for k in packages.keys(): + packages[k] = {d for d in packages[k] if d in pkg_names} + + return packages + + +def add_package_runtime_dependencies(path, packages): + """ + Check the path and if it exists extract the packages runtime dependencies. + + :param Path path: The resource file containing the runtime dependencies + :param dict packages: A mapping from package names to the sets of runtime + dependencies to add to + """ + content = path.read_text() + dependencies = set(content.split(os.pathsep) if content else []) + packages[path.name] = dependencies + + +def order_packages(packages): + """ + Order packages topologically. + + :param dict packages: A mapping from package name to the set of runtime + dependencies + :returns: The package names + :rtype: list + """ + # select packages with no dependencies in alphabetical order + to_be_ordered = list(packages.keys()) + ordered = [] + while to_be_ordered: + pkg_names_without_deps = [ + name for name in to_be_ordered if not packages[name]] + if not pkg_names_without_deps: + reduce_cycle_set(packages) + raise RuntimeError( + 'Circular dependency between: ' + ', '.join(sorted(packages))) + pkg_names_without_deps.sort() + pkg_name = pkg_names_without_deps[0] + to_be_ordered.remove(pkg_name) + ordered.append(pkg_name) + # remove item from dependency lists + for k in list(packages.keys()): + if pkg_name in packages[k]: + packages[k].remove(pkg_name) + return ordered + + +def reduce_cycle_set(packages): + """ + Reduce the set of packages to the ones part of the circular dependency. + + :param dict packages: A mapping from package name to the set of runtime + dependencies which is modified in place + """ + last_depended = None + while len(packages) > 0: + # get all remaining dependencies + depended = set() + for pkg_name, dependencies in packages.items(): + depended = depended.union(dependencies) + # remove all packages which are not dependent on + for name in list(packages.keys()): + if name not in depended: + del packages[name] + if last_depended: + # if remaining packages haven't changed return them + if last_depended == depended: + return packages.keys() + # otherwise reduce again + last_depended = depended + + +def _include_comments(): + # skipping comment lines when COLCON_TRACE is not set speeds up the + # processing especially on Windows + return bool(os.environ.get('COLCON_TRACE')) + + +def get_commands(pkg_name, prefix, primary_extension, additional_extension): + commands = [] + package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') + if os.path.exists(package_dsv_path): + commands += process_dsv_file( + package_dsv_path, prefix, primary_extension, additional_extension) + return commands + + +def process_dsv_file( + dsv_path, prefix, primary_extension=None, additional_extension=None +): + commands = [] + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path})) + with open(dsv_path, 'r') as h: + content = h.read() + lines = content.splitlines() + + basenames = OrderedDict() + for i, line in enumerate(lines): + # skip over empty or whitespace-only lines + if not line.strip(): + continue + # skip over comments + if line.startswith('#'): + continue + try: + type_, remainder = line.split(';', 1) + except ValueError: + raise RuntimeError( + "Line %d in '%s' doesn't contain a semicolon separating the " + 'type from the arguments' % (i + 1, dsv_path)) + if type_ != DSV_TYPE_SOURCE: + # handle non-source lines + try: + commands += handle_dsv_types_except_source( + type_, remainder, prefix) + except RuntimeError as e: + raise RuntimeError( + "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e + else: + # group remaining source lines by basename + path_without_ext, ext = os.path.splitext(remainder) + if path_without_ext not in basenames: + basenames[path_without_ext] = set() + assert ext.startswith('.') + ext = ext[1:] + if ext in (primary_extension, additional_extension): + basenames[path_without_ext].add(ext) + + # add the dsv extension to each basename if the file exists + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if os.path.exists(basename + '.dsv'): + extensions.add('dsv') + + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if 'dsv' in extensions: + # process dsv files recursively + commands += process_dsv_file( + basename + '.dsv', prefix, primary_extension=primary_extension, + additional_extension=additional_extension) + elif primary_extension in extensions and len(extensions) == 1: + # source primary-only files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + primary_extension})] + elif additional_extension in extensions: + # source non-primary files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + additional_extension})] + + return commands + + +def handle_dsv_types_except_source(type_, remainder, prefix): + commands = [] + if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): + try: + env_name, value = remainder.split(';', 1) + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the value') + try_prefixed_value = os.path.join(prefix, value) if value else prefix + if os.path.exists(try_prefixed_value): + value = try_prefixed_value + if type_ == DSV_TYPE_SET: + commands += _set(env_name, value) + elif type_ == DSV_TYPE_SET_IF_UNSET: + commands += _set_if_unset(env_name, value) + else: + assert False + elif type_ in ( + DSV_TYPE_APPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS + ): + try: + env_name_and_values = remainder.split(';') + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the values') + env_name = env_name_and_values[0] + values = env_name_and_values[1:] + for value in values: + if not value: + value = prefix + elif not os.path.isabs(value): + value = os.path.join(prefix, value) + if ( + type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and + not os.path.exists(value) + ): + comment = f'skip extending {env_name} with not existing ' \ + f'path: {value}' + if _include_comments(): + commands.append( + FORMAT_STR_COMMENT_LINE.format_map({'comment': comment})) + elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: + commands += _append_unique_value(env_name, value) + else: + commands += _prepend_unique_value(env_name, value) + else: + raise RuntimeError( + 'contains an unknown environment hook type: ' + type_) + return commands + + +env_state = {} + + +def _append_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # append even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional leading separator + extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': extend + value}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +def _prepend_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # prepend even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional trailing separator + extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value + extend}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +# generate commands for removing prepended underscores +def _remove_ending_separators(): + # do nothing if the shell extension does not implement the logic + if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: + return [] + + global env_state + commands = [] + for name in env_state: + # skip variables that already had values before this script started prepending + if name in os.environ: + continue + commands += [ + FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), + FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] + return commands + + +def _set(name, value): + global env_state + env_state[name] = value + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + return [line] + + +def _set_if_unset(name, value): + global env_state + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + if env_state.get(name, os.environ.get(name)): + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +if __name__ == '__main__': # pragma: no cover + try: + rc = main() + except RuntimeError as e: + print(str(e), file=sys.stderr) + rc = 1 + sys.exit(rc) diff --git a/workspace/install/local_setup.bash b/workspace/install/local_setup.bash new file mode 100644 index 0000000..03f0025 --- /dev/null +++ b/workspace/install/local_setup.bash @@ -0,0 +1,121 @@ +# generated from colcon_bash/shell/template/prefix.bash.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" +else + _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_bash_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_bash_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_bash_prepend_unique_value_IFS" + unset _colcon_prefix_bash_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_bash_prepend_unique_value + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "$(declare -f _colcon_prefix_sh_source_script)" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX diff --git a/workspace/install/local_setup.ps1 b/workspace/install/local_setup.ps1 new file mode 100644 index 0000000..6f68c8d --- /dev/null +++ b/workspace/install/local_setup.ps1 @@ -0,0 +1,55 @@ +# generated from colcon_powershell/shell/template/prefix.ps1.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# check environment variable for custom Python executable +if ($env:COLCON_PYTHON_EXECUTABLE) { + if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) { + echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist" + exit 1 + } + $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE" +} else { + # use the Python executable known at configure time + $_colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) { + if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) { + echo "error: unable to find python3 executable" + exit 1 + } + $_colcon_python_executable="python3" + } +} + +# function to source another script with conditional trace output +# first argument: the path of the script +function _colcon_prefix_powershell_source_script { + param ( + $_colcon_prefix_powershell_source_script_param + ) + # source script with conditional trace output + if (Test-Path $_colcon_prefix_powershell_source_script_param) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_prefix_powershell_source_script_param'" + } + . "$_colcon_prefix_powershell_source_script_param" + } else { + Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'" + } +} + +# get all commands in topological order +$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1 + +# execute all commands in topological order +if ($env:COLCON_TRACE) { + echo "Execute generated script:" + echo "<<<" + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output + echo ">>>" +} +if ($_colcon_ordered_commands) { + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression +} diff --git a/workspace/install/local_setup.sh b/workspace/install/local_setup.sh new file mode 100644 index 0000000..5c15896 --- /dev/null +++ b/workspace/install/local_setup.sh @@ -0,0 +1,137 @@ +# generated from colcon_core/shell/template/prefix.sh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX + return 1 + fi +else + _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_sh_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_sh_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_sh_prepend_unique_value_IFS" + unset _colcon_prefix_sh_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_sh_prepend_unique_value + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "_colcon_prefix_sh_source_script() { + if [ -f \"\$1\" ]; then + if [ -n \"\$COLCON_TRACE\" ]; then + echo \"# . \\\"\$1\\\"\" + fi + . \"\$1\" + else + echo \"not found: \\\"\$1\\\"\" 1>&2 + fi + }" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/workspace/install/local_setup.zsh b/workspace/install/local_setup.zsh new file mode 100644 index 0000000..b648710 --- /dev/null +++ b/workspace/install/local_setup.zsh @@ -0,0 +1,134 @@ +# generated from colcon_zsh/shell/template/prefix.zsh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" +else + _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +_colcon_prefix_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_zsh_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # workaround SH_WORD_SPLIT not being set + _colcon_prefix_zsh_convert_to_array _values + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS" + unset _colcon_prefix_zsh_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_zsh_prepend_unique_value +unset _colcon_prefix_zsh_convert_to_array + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "$(declare -f _colcon_prefix_sh_source_script)" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX diff --git a/workspace/install/osc_ros2/lib/osc_ros2/interface b/workspace/install/osc_ros2/lib/osc_ros2/interface new file mode 100755 index 0000000..61d20a1 --- /dev/null +++ b/workspace/install/osc_ros2/lib/osc_ros2/interface @@ -0,0 +1,33 @@ +#!/usr/bin/python3 +# EASY-INSTALL-ENTRY-SCRIPT: 'osc-ros2==1.0.0','console_scripts','interface' +import re +import sys + +# for compatibility with easy_install; see #2198 +__requires__ = 'osc-ros2==1.0.0' + +try: + from importlib.metadata import distribution +except ImportError: + try: + from importlib_metadata import distribution + except ImportError: + from pkg_resources import load_entry_point + + +def importlib_load_entry_point(spec, group, name): + dist_name, _, _ = spec.partition('==') + matches = ( + entry_point + for entry_point in distribution(dist_name).entry_points + if entry_point.group == group and entry_point.name == name + ) + return next(matches).load() + + +globals().setdefault('load_entry_point', importlib_load_entry_point) + + +if __name__ == '__main__': + sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0]) + sys.exit(load_entry_point('osc-ros2==1.0.0', 'console_scripts', 'interface')()) diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO new file mode 100644 index 0000000..275623c --- /dev/null +++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO @@ -0,0 +1,12 @@ +Metadata-Version: 2.1 +Name: osc-ros2 +Version: 1.0.0 +Summary: Creates an interface for communication between OSC and Ros2 +Home-page: UNKNOWN +Maintainer: Alexander Schaefer +Maintainer-email: a.schaefer@tuhh.de +License: Apache-2.0 +Platform: UNKNOWN + +UNKNOWN + diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt new file mode 100644 index 0000000..650a016 --- /dev/null +++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt @@ -0,0 +1,16 @@ +package.xml +setup.cfg +setup.py +../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO +../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt +../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt +../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt +../../build/osc_ros2/osc_ros2.egg-info/requires.txt +../../build/osc_ros2/osc_ros2.egg-info/top_level.txt +../../build/osc_ros2/osc_ros2.egg-info/zip-safe +osc_ros2/__init__.py +osc_ros2/osc_ros2.py +resource/osc_ros2 +test/test_copyright.py +test/test_flake8.py +test/test_pep257.py \ No newline at end of file diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt new file mode 100644 index 0000000..008581c --- /dev/null +++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt @@ -0,0 +1,3 @@ +[console_scripts] +interface = osc_ros2.osc_ros2:main + diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt new file mode 100644 index 0000000..c78337e --- /dev/null +++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt @@ -0,0 +1,6 @@ +numpy==1.22.4 +osc4py3 +roboticstoolbox-python==1.1.1 +scipy==1.7.3 +setuptools +spatialmath-python==1.1.14 diff --git 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zRAC=y;PH{`LgWZCN=i1;Bsao6(N7;$A4Y!wC1VaZMt;(~4-+B2#UYbdQ_Cmy2Q%^> Q$}t*$=@rN>INfjmU$iSCZ~y=R literal 0 HcmV?d00001 diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py new file mode 100644 index 0000000..6eb5678 --- /dev/null +++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py @@ -0,0 +1,1048 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from rcl_interfaces.msg import Log +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb +from osc4py3 import oscbuildparse +import time +import os +import re +import socket + +class JointNameListener(Node): + def __init__(self): + super().__init__('joint_name_listener') + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_state_callback, + 1 + ) + self.joint_names = None + + def joint_state_callback(self, msg: JointState): + self.joint_names = list(msg.name) + +class OSC_ROS2_interface(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 + ) + + self.subscription = self.create_subscription( + Log, + '/rosout', + self.log_callback, + 100 + ) + + # Store received joint positions + self.current_joint_positions = None + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.desired = None + self.previous_desired = None + self.log_dict = { + 10: "DEBUG", + 20: "INFO", + 30: "WARN", + 40: "ERROR", + 50: "FATAL", + } + self.speed_scaling = 0.2 + self.new = False + self.n_joints = len(joint_names) + + if robot: + while True: + print('+-' * 50) + set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower() + if set_limits == 'y': + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + con = True + while con: + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + con = False + else: + print("Invalid input. Please enter 'y' or 'n'.") + if con: break + except ValueError: + print("Invalid input. Please enter numeric values only.") + break + elif set_limits == 'n': + self.x_limits = [None, None] + self.y_limits = [None, None] + self.z_limits = [None, None] + break + print("Invalid input. Please enter 'y' or 'n'.") + # Ask the user if they want to set new joint limits + while True: + update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + for i in range(len(self.joint_names)): + while True: + try: + lim = self.robot.qlim.copy() + # Find the link corresponding to the joint name + print("-" * 50) + print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + + if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit): + print("Invalid input. Lower limit must be less than upper limit.") + continue + lower_limit = float(lower_limit) if lower_limit!="" else None + upper_limit = float(upper_limit) if upper_limit!="" else None + if lower_limit!=None: + if lower_limitlim[1][i]: + while True: + sure = input(f"Are you sure you want to set the upper limit to {upper_limit} rad which is more than the default limit {lim[1][i]} (y/n)?: ").strip().lower() + if sure == 'y': + lim[1][i] = float(upper_limit) + break + elif sure == 'n': + print("Upper limit not changed.") + break + print("Invalid input. Please enter 'y' or 'n'.") + else: lim[1][i] = float(upper_limit) + self.robot.qlim = lim + print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + print("-" * 50) + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + break + if update_limits == 'n': + break + print("Invalid input. Please enter 'y' or 'n'.") + ''' + use_link_mask = input("Do you want to use a link mask? (y/n): ").strip().lower() + if use_link_mask == 'y': + while True: + try: + ''' + else: + while True: + print('+-' * 50) + update_limits = input("Do you want to set joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + self.joint_lim = [[None]*self.n_joints,[None]*self.n_joints] + for i, joint in enumerate(self.joint_names): + while True: + try: + print("-" * 50) + lower_limit = input(f"Enter the new lower limit for joint '{joint}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{joint}' (or press Enter to keep current): ").strip() + + if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit): + print('--' * 50) + print(" !!! Invalid input. Lower limit must be less than upper limit. !!! ") + continue + self.joint_lim[0][i] = float(lower_limit) if lower_limit!="" else None + self.joint_lim[1][i] = float(upper_limit) if upper_limit!="" else None + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + break + elif update_limits == 'n': + self.joint_lim = None + break + print("Invalid input. Please enter 'y' or 'n'.") + + print(f'New limits for joint:\n lower: {self.joint_lim[0]}\n upper: {self.joint_lim[1]}') + + + while True: + try: + print('+-' * 50) + self.trajectory_topic_name = input("Enter the topic name to which the joint trajectory should be sent (press Enter for default: '/scaled_joint_trajectory_controller/joint_trajectory'): ").strip() + if self.trajectory_topic_name == "": + self.trajectory_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + break + elif self.trajectory_topic_name.startswith("/"): + break + else: + print("Invalid topic name. A valid topic name should start with '/'.") + except Exception as e: + print(f"An error occurred: {e}") + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectory_topic_name, + 1 + ) + + while True: + try: + print('+-' * 50) + log_ip = str(input("Enter the target IP on which you want to recieve the log as OSC Messages (or press Enter for default: '127.0.0.1'): ")) + if log_ip == "": + log_ip = "127.0.0.1" + print('--' * 50) + log_port = input("Enter the target port for the log messages (or press Enter for default: 5005): ") + if log_port == "": + log_port = 5005 + else: + log_port = int(log_port) + break + except ValueError: + print("Invalid input. Please enter a valid IP address.") + continue + while True: + try: + print('+-' * 50) + state_ip = str(input("Enter the target IP on which you want to recieve the joint states as OSC Messages (or press Enter for default: '127.0.0.1'): ")) + if state_ip == "": + state_ip = "127.0.0.1" + print('--' * 50) + state_port = input("Enter the target port for the joint state messages (or press Enter for default: 7000): ") + if state_port == "": + state_port = 7000 + else: + state_port = int(state_port) + break + except ValueError: + print("Invalid input. Please enter a valid IP address.") + continue + while True: + try: + print('+-' * 50) + commands_port = input("Enter the port you want to send your commands to (or press Enter for default: 8000): ") + if commands_port == state_port: + print("The commands port must be different from the state port.") + continue + if commands_port == "": + commands_port = 8000 + else: + commands_port = int(commands_port) + break + except ValueError: + print("Invalid input. Please enter a valid port.") + continue + + + osc_startup() + + osc_udp_client(state_ip, state_port, "osc_client") + + osc_udp_client(log_ip, log_port, "osc_log_client") + + osc_udp_server('0.0.0.0', commands_port, "osc_server") + + # Register OSC handler + osc_method("/joint_positions", self.joint_positions_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/joint_position/*", self.joint_position_handler, argscheme=osm.OSCARG_ADDRESS+osm.OSCARG_DATAUNPACK) + osc_method("/tcp_coordinates", self.tcp_coordinates_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/joint_trajectory", self.joint_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/cartesian_trajectory", self.cartesian_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK) + osc_method("/speed_scaling", self.speed_scaling_handler, argscheme=osm.OSCARG_DATAUNPACK) + print('--' * 50) + while True: + try: + print('+-' * 50) + self.hz = input("Enter the desired refresh frequency (Hz) (or press Enter for default: 100): ") + if self.hz == "": + self.hz = 100 + else: + self.hz = float(self.hz) + break + except ValueError: + print("Invalid input. Please enter a valid number.") + continue + print() + print('=-=' * 50) + print() + print(f'Sending joint states to {state_ip}:{state_port}') + print() + print('=-=' * 50) + print() + print(f'Sending log messages to {log_ip}:{log_port}') + print() + print('=-=' * 50) + print() + print(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}') + print() + print('=-=' * 50) + print() + + self.get_logger().info(f"Publishing joint trajectory to {self.trajectory_topic_name}") + self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}') + self.get_logger().info(f'Sending joint states to {state_ip}:{state_port}') + self.get_logger().info(f'Sending log messages to {log_ip}:{log_port}') + self.create_timer(1/self.hz, self.update_position) # Timer to update the position + self.create_timer(3, self.reset_prev) # reset the previous desired position + + def reset_prev(self): self.previous_desired = None + + def speed_scaling_handler(self, *args): + """Handles incoming OSC messages for speed scaling.""" + try: + if len(args) == 1: + if args[0] < 0: + self.speed_scaling = -float(args[0]) + else: + self.speed_scaling = float(args[0]) + if self.speed_scaling > 1: + self.get_logger().warn(f"speed_scaling_handler: Attention! Speed scaling {self.speed_scaling} is greater than 1!") + self.get_logger().info(f"Speed scaling set to {self.speed_scaling}") + else: + self.get_logger().warn(f"Invalid number of arguments for speed scaling. Expected 1, but got {len(args)}.") + except Exception as e: + self.get_logger().fatal(f"speed_scaling_handler: {e}") + + def joint_trajectory_handler(self, *args): + try: + if len(args[0]) == 6: + points = [[float(j) for j in i] for i in args] + elif len(args[0]) >= 7: + points = [[float(j) for j in i[:6]] for i in args] + self.get_logger().warn(f"joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.") + else: + self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.") + return + + self.desired = ["joint_trajectory"] + points + self.new = True + except Exception as e: + self.get_logger().fatal(f"joint_trajectory_handler: {e}") + + def joint_position_handler(self, address, *args): + """Handles incoming OSC messages for joint positions.""" + try: + joint_name = address.split("/")[-1] + + if joint_name in self.joint_names: + if len(args) == 1: + position = float(args[0]) + index = self.joint_names.index(joint_name) + if self.robot: + if position < self.robot.qlim[0][index]: + position = self.robot.qlim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}." + ) + elif position > self.robot.qlim[1][index]: + position = self.robot.qlim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}." + ) + else: + if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]: + position = self.joint_lim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}." + ) + elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]: + position = self.joint_lim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}." + ) + desired_joint_positions = self.current_joint_positions + desired_joint_positions[index] = position + self.desired = ["joint_positions"] + desired_joint_positions + self.new = True + elif len(args) == 2: + position = float(args[0]) + duration = float(args[1]) + index = self.joint_names.index(joint_name) + if self.robot: + if position < self.robot.qlim[0][index]: + position = self.robot.qlim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}." + ) + elif position > self.robot.qlim[1][index]: + position = self.robot.qlim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}." + ) + else: + if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]: + position = self.joint_lim[0][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}." + ) + elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]: + position = self.joint_lim[1][index] + self.get_logger().warn( + f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}." + ) + desired_joint_positions = self.current_joint_positions + desired_joint_positions[index] = position + self.desired = ["joint_positions"] + desired_joint_positions + [duration] + self.new = True + else: + self.get_logger().warn(f"joint_position_handler: Invalid number of arguments for joint position. Expected 1, but got {len(args)}.") + else: + self.get_logger().warn(f"joint_position_handler: Joint '{joint_name}' not found in the robot model.") + except Exception as e: + self.get_logger().fatal(f"joint_position_handler: {e}") + + + def cartesian_trajectory_handler(self, *args): + """Handles incoming OSC messages for cartesian trajectory.""" + if self.robot: + try: + if len(args[0]) == 6: + points = [[float(j) for j in i] for i in args] + elif len(args[0]) >= 7: + points = [[float(j) for j in i[:6]] for i in args] + self.get_logger().warn(f"cartesian_trajectory_handler: Duration is not supported for cartesian trajectory yet. Ignoring duration.") + else: + self.get_logger().warn(f"cartesian_trajectory_handler: Invalid number of arguments for cartesian trajectory. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args[0])}.") + return + + self.desired = ["cartesian_trajectory"] + points + self.new = True + except Exception as e: + self.get_logger().fatal(f"cartesian_trajectory_handler: {e}") + else: + self.get_logger().warn("cartesian_trajectory_handler: No robot model provided. Cannot handle cartesian trajectory.") + return + + def joint_positions_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + if len(args) == len(self.joint_names): + desired_joint_positions = [float(i) for i in list(args)] + elif len(args) == len(self.joint_names) + 1: + desired_joint_positions = [float(i) for i in list(args)] + else: + self.get_logger().warn(f"joint_positions_handler: Invalid number of arguments for joint positions. Expected {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]) or {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]), but got {len(args)}.") + return + + # Check if joint positions exceed limits + if self.robot: + for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]): # Exclude duration if present + if position < self.robot.qlim[0][i]: + desired_joint_positions[i] = self.robot.qlim[0][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[0][i]}." + ) + elif position > self.robot.qlim[1][i]: + desired_joint_positions[i] = self.robot.qlim[1][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[1][i]}." + ) + else: + for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]): + if self.joint_lim[0][i] is not None and position < self.joint_lim[0][i]: + desired_joint_positions[i] = self.joint_lim[0][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}." + ) + elif self.joint_lim[1][i] is not None and position > self.joint_lim[1][i]: + desired_joint_positions[i] = self.joint_lim[1][i] + self.get_logger().warn( + f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}." + ) + + self.desired = ["joint_positions"] + desired_joint_positions + self.new = True + except Exception as e: + self.get_logger().fatal(f"joint_positions_handler: {e}") + return + + def tcp_coordinates_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + if self.robot: + try: + if len(args) == 6: + x, y, z, r, p, yaw = [float(i) for i in list(args)] + duration = None + elif len(args) >= 7: + x, y, z, r, p, yaw, duration, *_ = [float(i) for i in list(args)] + else: + self.get_logger().warn(f"tcp_coordinates_handler: Invalid number of arguments for TCP coordinates. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args)}.") + return + + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"tcp_coordinates_handler: Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired = ["tcp_coordinates", x, y, z, r, p, yaw, duration] + self.new = True + except Exception as e: + self.get_logger().fatal(f"tcp_coordinates_handler: {e}") + else: + self.get_logger().warn("tcp_coordinates_handler: No robot model provided. Cannot handle TCP coordinates.") + return + + + def joint_states_callback(self, msg: JointState): + """Callback function to handle incoming joint states.""" + try: + msg_time = oscbuildparse.OSCMessage(f"/time", ',s', [str(time.time())]) + osc_send(msg_time, "osc_client") + if not(self.joint_names): self.joint_names = msg.name + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [float(joint_position_dict[name]) for name in self.joint_names] + joint_position_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [float(joint_position_dict[name]) for name in self.joint_names] + + if self.robot: + tcp_position = self.robot.fkine(self.current_joint_positions).t + tcp_orientation = self.robot.fkine(self.current_joint_positions).rpy() + + msg_tcp = oscbuildparse.OSCMessage(f"/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]]) + #msg_x = oscbuildparse.OSCMessage(f"/tcp_coordinates/x", ',f', [tcp_position[0]]) + #msg_y = oscbuildparse.OSCMessage(f"/tcp_coordinates/y", ',f', [tcp_position[1]]) + #msg_z = oscbuildparse.OSCMessage(f"/tcp_coordinates/z", ',f', [tcp_position[2]]) + #msg_roll = oscbuildparse.OSCMessage(f"/tcp_coordinates/roll", ',f', [tcp_orientation[0]]) + #msg_pitch = oscbuildparse.OSCMessage(f"/tcp_coordinates/pitch", ',f', [tcp_orientation[1]]) + #msg_yaw = oscbuildparse.OSCMessage(f"/tcp_coordinates/yaw", ',f', [tcp_orientation[2]]) + #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_tcp, msg_x, msg_y, msg_z, msg_roll, msg_pitch, msg_yaw]) + #osc_send(bun, "osc_client") + osc_send(msg_tcp, "osc_client") + + msg_position = oscbuildparse.OSCMessage(f"/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position]) + msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity]) + msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort]) + msg_name = oscbuildparse.OSCMessage(f"/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name]) + bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_name, msg_position, msg_velocity, msg_effort]) + osc_send(bun, "osc_client") + + #for i, name in enumerate(msg.name): + # msg_position = oscbuildparse.OSCMessage(f"/joint_state/position/{name}", ',f', [msg.position[i]]) + # msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity/{name}", ',f', [msg.velocity[i]]) + # msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort/{name}", ',f', [msg.effort[i]]) + # bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_position, msg_velocity, msg_effort]) + # osc_send(bun, "osc_client") + + except Exception as e: + self.get_logger().fatal(f"joint_states_callback: {e}") + + def send_joint_positions(self): + self.previous_desired = None + self.new = False + try: + if len(self.desired) == len(self.joint_names) + 2: + desired_joint_positions = [float(i) for i in self.desired[1:-1]] + duration = self.desired[-1] + msg = JointTrajectory() + msg.joint_names = self.joint_names + point = JointTrajectoryPoint() + point.positions = desired_joint_positions + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + self.publisher.publish(msg) + elif len(self.desired) == len(self.joint_names) + 1: + desired_joint_positions = [float(i) for i in self.desired[1:]] + msg = JointTrajectory() + msg.joint_names = self.joint_names + point = JointTrajectoryPoint() + point.positions = desired_joint_positions + duration = 0 + for p1, p2, max_vel in zip(desired_joint_positions, self.current_joint_positions, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel) + duration = duration + min(2, 0.2*duration) + duration /= self.speed_scaling + if duration == 0: + self.get_logger().warn("send_joint_positions: Duration is 0.") + return + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + self.publisher.publish(msg) + else: + self.get_logger().warn(f"send_joint_positions: Invalid number of arguments for joint positions. Expected {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]) or {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]), but got {len(self.desired)}.") + return + except Exception as e: + self.get_logger().fatal(f"send_joint_positions: {e}") + return + + def trapezoidal_timestamps(self, num_points,total_duration, flat_ratio = 0.3): + + if num_points == 2: + return [0, total_duration] + n = int(num_points*(1-flat_ratio)/2) + start = np.cos(np.linspace(0, np.pi, n))+2 + end = np.cos(np.linspace(-np.pi, 0, n))+2 + flat = np.ones(num_points-2*n) + + timestamps = np.concatenate((start, flat, end)) + timestamps *= total_duration / timestamps.sum() + timestamps = np.cumsum(timestamps) + + return timestamps.tolist() + + + def send_tcp_coordinates(self): + """Send the desired TCP coordinates to the robot.""" + try: + self.new = False + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 100 + if self.previous_desired == None: + [x,y,z] = self.robot.fkine(self.current_joint_positions).t + [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy() + else: + [x,y,z] = self.previous_desired[1:4] + [roll, pitch, yaw] = self.previous_desired[4:-1] + x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7] + self.previous_desired = self.desired + steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + '''if self.previous_desired: + [x,y,z] = self.previous_desired[1:4] + q0 = sm.UnitQuaternion.RPY(self.previous_desired[3], self.previous_desired[4], self.previous_desired[5]) + else: + [x, y, z] = self.robot.fkine(self.current_joint_positions).t + q0 = sm.UnitQuaternion(self.robot.fkine(self.current_joint_positions).R) + + x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7] + q1 = sm.UnitQuaternion.RPY(roll1, pitch1, yaw1) + + steps = int(np.linalg.norm(np.array([x1, y1, z1]) - self.robot.fkine(self.current_joint_positions).t) * steps_per_m) + if steps < 2: + steps = 2 + + cart_traj = [] + for i in range(steps): + alpha = i / (steps - 1) + + # Convert to arrays for robust interpolation if needed + q0_array = q0.vec + q1_array = q1.vec + dot = np.dot(q0_array, q1_array) + dot = np.clip(dot, -1.0, 1.0) + + if abs(dot) > 0.9995: + # Linear interpolation + normalization + q_interp_array = (1 - alpha) * q0_array + alpha * q1_array + q_interp_array = q_interp_array / np.linalg.norm(q_interp_array) + q_interp = sm.UnitQuaternion(q_interp_array) + else: + q_interp = q0.interp(q1, alpha) + + # Interpolate translation + pos_interp = [ + x + (x1 - x) * alpha, + y + (y1 - y) * alpha, + z + (z1 - z) * alpha + ] + + # Compose SE3 transform + cart_traj.append(sm.SE3(pos_interp) * q_interp.SE3())''' + + + + if self.desired[-1]: + timestamps = self.trapezoidal_timestamps(steps, self.desired[-1], 0.8) + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan') + if sol[1] == 1: + fowards = self.robot.fkine_all(sol[0]) + out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False) + if np.any(out_of_bounds): + #print(fowards.t) + #indices = np.where(out_of_bounds)[0] + #print(f"indices: {indices}") + self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!") + ''' + for i in indices: + try: + print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}") + except IndexError: + print(f"index {i} is out of bounds, but no corresponding joint found.") + self.previous_desired_tcp_position = self.desired_tcp_position + ''' + break + duration = timestamps[j] + if duration == 0: + prev_sol = list(sol[0]) + continue + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: + self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!") + prev_sol = self.current_joint_positions + if len(msg.points) == 0: + self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.") + self.previous_desired = self.desired + return + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired + + + + else: + prev_duration = 0 + ''' + if self.previous_desired == None: + [x,y,z] = self.robot.fkine(self.current_joint_positions).t + [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy() + else: + [x,y,z] = self.previous_desired[:3] + [roll, pitch, yaw] = self.previous_desired[3:] + ''' + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan') + if sol[1] == 1: + fowards = self.robot.fkine_all(sol[0]) + out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False) + if np.any(out_of_bounds): + #print(fowards.t) + #indices = np.where(out_of_bounds)[0] + #print(f"indices: {indices}") + self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!") + ''' + for i in indices: + try: + print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}") + except IndexError: + print(f"index {i} is out of bounds, but no corresponding joint found.") + self.previous_desired_tcp_position = self.desired_tcp_position + ''' + break + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + prev_sol = list(sol[0]) + if duration == 0: + continue + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration *= 1.2 + duration /= self.speed_scaling + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + else: + self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!") + prev_sol = self.current_joint_positions + if len(msg.points) == 0: + self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.") + self.previous_desired = self.desired + return + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired + except Exception as e: + self.get_logger().fatal(f"send_tcp_coordinates: {e}") + + def send_joint_trajectory(self): + + try: + self.new = False + viapoints = np.array([i for i in self.desired[1:]]) + msg = JointTrajectory() + msg.joint_names = self.joint_names + traj = rtb.mstraj(viapoints, q0 = self.current_joint_positions ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=[self.speed_scaling*i for i in self.joint_velocity_limits.values()]) + msg.points = [] + for i in range(len(traj.q)): + point = JointTrajectoryPoint() + point.positions = list(traj.q[i]) + point.time_from_start.sec = int(traj.t[i]) + point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9) + msg.points.append(point) + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = None + except Exception as e: + print(f'Error in joint_angles_handler: {e}') + + def send_cartesian_trajectory(self): + + try: + self.new = False + viapoints = np.array([i[:6] for i in self.desired[1:]]) + msg = JointTrajectory() + msg.joint_names = self.joint_names + x,y,z = self.robot.fkine(self.current_joint_positions).t + r,p,yaw = self.robot.fkine(self.current_joint_positions).rpy() + q0 = [x, y, z, r, p, yaw] + traj = rtb.mstraj(viapoints, q0 = q0 ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=2*self.speed_scaling) + msg.points = [] + prev_sol = self.current_joint_positions + n = max(int(len(traj.q)/200), 1) + for i in range(len(traj.q)): + T = sm.SE3(traj.q[i][:3]) * sm.SE3.RPY(traj.q[i][3:], order='xyz') + sol = self.robot.ik_LM(T, q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + point.time_from_start.sec = int(traj.t[i]) + if traj.t[i] == 0: + continue + point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: self.get_logger().warn(f"send_cartesian_trajectory: IK could not find a solution for (x,y,z) = {traj.q[i][:3]} and (r,p,y) = {traj.q[i][3:]}!") + msg.header.stamp = self.get_clock().now().to_msg() + msg.points = msg.points[::n] + self.publisher.publish(msg) + self.previous_desired = None + except Exception as e: + print(f'Error in joint_angles_handler: {e}') + + self.previous_desired = None + + def update_position(self): + """Calls the appropriate function to update the robot's position.""" + try: + if self.desired is None or not(self.new): + return + + if self.desired[0] == "joint_positions": + self.new = False + self.send_joint_positions() + return + elif self.desired[0] == "tcp_coordinates": + self.new = False + self.send_tcp_coordinates() + return + elif self.desired[0] == "joint_trajectory": + self.new = False + self.send_joint_trajectory() + return + elif self.desired[0] == "cartesian_trajectory": + self.new = False + self.send_cartesian_trajectory() + return + else: + self.get_logger().warn(f"update_position: Unknown desired type '{self.desired[0]}'.") + return + + + except Exception as e: + self.get_logger().fatal(f'update_position: {e}') + + + def clean_log_string(self, s): + + s = str(s) + + # Remove ANSI escape sequences (e.g., \x1b[31m) + ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])') + s = ansi_escape.sub('', s) + + # Replace tabs/newlines with spaces + s = s.replace('\n', ' ').replace('\r', ' ').replace('\t', ' ').replace("'", ' '). replace('"', ' ').replace('`', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ') + + # Strip leading/trailing whitespace + s = s.strip() + + # Optionally enforce ASCII only (replace non-ASCII chars with '?') + s = s.encode('ascii', 'replace').decode('ascii') + + return s + + + def log_callback(self, msg: Log): + """Callback function to handle incoming log messages.""" + + # Send the log message as an OSC message + msg_log = oscbuildparse.OSCMessage(f"/log/{self.log_dict.get(msg.level, 'UNKNOWN')}", ',isss', [int(msg.level), str(msg.stamp.sec+msg.stamp.nanosec*1e-9) , str(msg.name), self.clean_log_string(msg.msg)]) + osc_send(msg_log, "osc_log_client") + + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + rclpy.init() + while True: + use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower() + if use_urdf == 'y': + while True: + robot_urdf = input("Enter the absolute path to the URDF file: ") + if os.path.isfile(robot_urdf): + if not robot_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(robot_urdf) + root = tree.getroot() + robot = rtb.ERobot.URDF(robot_urdf) + joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic'] + print(robot) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + while True: + try: + print('-+'*50) + print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].") + print("The cost mask 111000 means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if cost_mask[i]==1]}") + break + elif use_urdf == 'n': + node = JointNameListener() + print("Wainting 10 sec for JointState messages to extract joint names...") + rclpy.spin_once(node) + counter = 0 + while not(node.joint_names): + if counter > 100: + joint_names = None + break + counter+=1 + time.sleep(0.1) + rclpy.spin_once(node) + joint_names = node.joint_names + node.destroy_node() + if joint_names: + correct_names = input("The following joint names were found:\n" + "\n".join(joint_names) + "\nAre these correct? (y/n): ").strip().lower() + while True: + if correct_names == 'y': + break + elif correct_names == 'n': + joint_names = None + break + correct_names = input("Invalid input. Please enter 'y' or 'n'.") + if not(joint_names): + print("Please enter the joint names manually.") + while True: + joint_names = [] + print('-+'*50) + print("Enter the joint names manually one by one. Type 'done' when you are finished:") + print("Attention: The order of the joints is important. It should be the same in which you want to send the joint positions.") + while True: + print('-'*50) + joint_name = input("Enter joint name (or 'done' to finish): ").strip() + if joint_name.lower() == 'done': + break + if joint_name: + joint_names.append(joint_name) + print('-+'*50) + correct_names = input(f"Are those the joint names as defined in your JointTrajectroy recieving Node?: {joint_names}. (y/n)?: ").strip() + if correct_names.lower() == 'y': + break + else: + print("Please re-enter the joint names.") + while True: + try: + joint_velocity_limits = {} + for name in joint_names: + while True: + try: + print('--'*50) + limit = input(f"Enter the velocity limit for joint '{name}': ").strip() + if limit == "": + continue + else: + joint_velocity_limits[name] = float(limit) + break + except ValueError: + print("Invalid input. Please enter a numeric value or press Enter to skip.") + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to skip.") + robot = None + cost_mask = None + break + print("Invalid input. Please enter 'y' or 'n'.") + + + node = OSC_ROS2_interface(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2 b/workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2 new file mode 100644 index 0000000..e69de29 diff --git a/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2 b/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2 new file mode 100644 index 0000000..aff3120 --- /dev/null +++ b/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2 @@ -0,0 +1 @@ +rclpy \ No newline at end of file diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv new file mode 100644 index 0000000..79d4c95 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1 b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1 new file mode 100644 index 0000000..26b9997 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1 @@ -0,0 +1,3 @@ +# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em + +colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX" diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh new file mode 100644 index 0000000..f3041f6 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/hook_prepend_value.sh.em + +_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX" diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv new file mode 100644 index 0000000..257067d --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1 b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1 new file mode 100644 index 0000000..caffe83 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1 @@ -0,0 +1,3 @@ +# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em + +colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages" diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh new file mode 100644 index 0000000..660c348 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/hook_prepend_value.sh.em + +_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages" diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.bash b/workspace/install/osc_ros2/share/osc_ros2/package.bash new file mode 100644 index 0000000..92f5b25 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/package.bash @@ -0,0 +1,31 @@ +# generated from colcon_bash/shell/template/package.bash.em + +# This script extends the environment for this package. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)" +else + _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh script of this package +_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/osc_ros2/package.sh" + +unset _colcon_package_bash_source_script +unset _colcon_package_bash_COLCON_CURRENT_PREFIX diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.dsv b/workspace/install/osc_ros2/share/osc_ros2/package.dsv new file mode 100644 index 0000000..ece85b1 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/package.dsv @@ -0,0 +1,6 @@ +source;share/osc_ros2/hook/pythonpath.ps1 +source;share/osc_ros2/hook/pythonpath.dsv +source;share/osc_ros2/hook/pythonpath.sh +source;share/osc_ros2/hook/ament_prefix_path.ps1 +source;share/osc_ros2/hook/ament_prefix_path.dsv +source;share/osc_ros2/hook/ament_prefix_path.sh diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.ps1 b/workspace/install/osc_ros2/share/osc_ros2/package.ps1 new file mode 100644 index 0000000..ed891bc --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/package.ps1 @@ -0,0 +1,116 @@ +# generated from colcon_powershell/shell/template/package.ps1.em + +# function to append a value to a variable +# which uses colons as separators +# duplicates as well as leading separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_append_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + $_duplicate="" + # start with no values + $_all_values="" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(";") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -eq $_value) { + $_duplicate="1" + } + if ($_all_values) { + $_all_values="${_all_values};$_" + } else { + $_all_values="$_" + } + } + } + } + # append only non-duplicates + if (!$_duplicate) { + # avoid leading separator + if ($_all_values) { + $_all_values="${_all_values};${_value}" + } else { + $_all_values="${_value}" + } + } + + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_prepend_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + # start with the new value + $_all_values="$_value" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(";") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -ne $_value) { + # keep non-duplicate values + $_all_values="${_all_values};$_" + } + } + } + } + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +function colcon_package_source_powershell_script { + param ( + $_colcon_package_source_powershell_script + ) + # source script with conditional trace output + if (Test-Path $_colcon_package_source_powershell_script) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_package_source_powershell_script'" + } + . "$_colcon_package_source_powershell_script" + } else { + Write-Error "not found: '$_colcon_package_source_powershell_script'" + } +} + + +# a powershell script is able to determine its own path +# the prefix is two levels up from the package specific share directory +$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName + +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/osc_ros2/hook/pythonpath.ps1" +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/osc_ros2/hook/ament_prefix_path.ps1" + +Remove-Item Env:\COLCON_CURRENT_PREFIX diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.sh b/workspace/install/osc_ros2/share/osc_ros2/package.sh new file mode 100644 index 0000000..2631417 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/package.sh @@ -0,0 +1,87 @@ +# generated from colcon_core/shell/template/package.sh.em + +# This script extends the environment for this package. + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prepend_unique_value_IFS=$IFS + IFS=":" + # start with the new value + _all_values="$_value" + # workaround SH_WORD_SPLIT not being set in zsh + if [ "$(command -v colcon_zsh_convert_to_array)" ]; then + colcon_zsh_convert_to_array _values + fi + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + # restore the field separator + IFS=$_colcon_prepend_unique_value_IFS + unset _colcon_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_package_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install/osc_ros2" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_package_sh_COLCON_CURRENT_PREFIX + return 1 + fi + COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX" +fi +unset _colcon_package_sh_COLCON_CURRENT_PREFIX + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh hooks +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/osc_ros2/hook/pythonpath.sh" +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/osc_ros2/hook/ament_prefix_path.sh" + +unset _colcon_package_sh_source_script +unset COLCON_CURRENT_PREFIX + +# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.xml b/workspace/install/osc_ros2/share/osc_ros2/package.xml new file mode 100644 index 0000000..086e035 --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/package.xml @@ -0,0 +1,20 @@ + + + + osc_ros2 + 1.0.0 + Creates an interface for communication between OSC and ROS2 + Alexander Schaefer + Apache-2.0 + + rclpy + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.zsh b/workspace/install/osc_ros2/share/osc_ros2/package.zsh new file mode 100644 index 0000000..b8ae59f --- /dev/null +++ b/workspace/install/osc_ros2/share/osc_ros2/package.zsh @@ -0,0 +1,42 @@ +# generated from colcon_zsh/shell/template/package.zsh.em + +# This script extends the environment for this package. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)" +else + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +colcon_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# source sh script of this package +_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/osc_ros2/package.sh" +unset convert_zsh_to_array + +unset _colcon_package_zsh_source_script +unset _colcon_package_zsh_COLCON_CURRENT_PREFIX diff --git a/workspace/install/setup.bash b/workspace/install/setup.bash new file mode 100644 index 0000000..10ea0f7 --- /dev/null +++ b/workspace/install/setup.bash @@ -0,0 +1,31 @@ +# generated from colcon_bash/shell/template/prefix_chain.bash.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" +_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" + +unset COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_bash_source_script diff --git a/workspace/install/setup.ps1 b/workspace/install/setup.ps1 new file mode 100644 index 0000000..558e9b9 --- /dev/null +++ b/workspace/install/setup.ps1 @@ -0,0 +1,29 @@ +# generated from colcon_powershell/shell/template/prefix_chain.ps1.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +function _colcon_prefix_chain_powershell_source_script { + param ( + $_colcon_prefix_chain_powershell_source_script_param + ) + # source script with conditional trace output + if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_prefix_chain_powershell_source_script_param'" + } + . "$_colcon_prefix_chain_powershell_source_script_param" + } else { + Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'" + } +} + +# source chained prefixes +_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1" + +# source this prefix +$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent) +_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1" diff --git a/workspace/install/setup.sh b/workspace/install/setup.sh new file mode 100644 index 0000000..fa9641d --- /dev/null +++ b/workspace/install/setup.sh @@ -0,0 +1,45 @@ +# generated from colcon_core/shell/template/prefix_chain.sh.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/workspace/install +if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX + return 1 +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" + + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" +_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" + +unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_sh_source_script +unset COLCON_CURRENT_PREFIX diff --git a/workspace/install/setup.zsh b/workspace/install/setup.zsh new file mode 100644 index 0000000..54799fd --- /dev/null +++ b/workspace/install/setup.zsh @@ -0,0 +1,31 @@ +# generated from colcon_zsh/shell/template/prefix_chain.zsh.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" +_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" + +unset COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_zsh_source_script diff --git a/workspace/log/COLCON_IGNORE b/workspace/log/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/workspace/log/build_2025-05-25_15-14-38/events.log b/workspace/log/build_2025-05-25_15-14-38/events.log new file mode 100644 index 0000000..52f7dda --- /dev/null +++ b/workspace/log/build_2025-05-25_15-14-38/events.log @@ -0,0 +1,52 @@ +[0.000000] (-) TimerEvent: {} +[0.000769] (osc_ros2) JobQueued: {'identifier': 'osc_ros2', 'dependencies': OrderedDict()} +[0.001046] (osc_ros2) JobStarted: {'identifier': 'osc_ros2'} +[0.098566] (-) TimerEvent: {} +[0.200450] (-) TimerEvent: {} +[0.304259] (-) TimerEvent: {} +[0.405472] (-) TimerEvent: {} +[0.507304] (-) TimerEvent: {} +[0.609513] (-) TimerEvent: {} +[0.668851] (osc_ros2) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/osc_ros2', 'build', '--build-base', '/BA/workspace/build/osc_ros2/build', 'install', '--record', '/BA/workspace/build/osc_ros2/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/BA/workspace/src/osc_ros2', 'env': {'HOSTNAME': '0e38e264ac6b', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/root', 'OLDPWD': '/BA', 'ROS_PYTHON_VERSION': '3', 'ROS_DISTRO': 'humble', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'TERM': 'xterm', 'ROS_LOCALHOST_ONLY': '0', 'PATH': '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'LANG': 'C.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'PWD': '/BA/workspace/build/osc_ros2', 'LC_ALL': 'C.UTF-8', 'PYTHONPATH': '/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages', 'COLCON': '1'}, 'shell': False} +[0.710418] (-) TimerEvent: {} +[0.812364] (-) TimerEvent: {} +[0.916461] (-) TimerEvent: {} +[0.930157] (osc_ros2) StdoutLine: {'line': b'running egg_info\n'} +[0.931065] (osc_ros2) StdoutLine: {'line': b'creating ../../build/osc_ros2/osc_ros2.egg-info\n'} +[0.931536] (osc_ros2) StdoutLine: {'line': b'writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO\n'} +[0.932359] (osc_ros2) StdoutLine: {'line': b'writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt\n'} +[0.932742] (osc_ros2) StdoutLine: {'line': b'writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt\n'} +[0.933289] (osc_ros2) StdoutLine: {'line': b'writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt\n'} +[0.933622] (osc_ros2) StdoutLine: {'line': b'writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt\n'} +[0.934053] (osc_ros2) StdoutLine: {'line': b"writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'\n"} +[0.936202] (osc_ros2) StdoutLine: {'line': b"reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'\n"} +[0.937431] (osc_ros2) StdoutLine: {'line': b"writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'\n"} +[0.937733] (osc_ros2) StdoutLine: {'line': b'running build\n'} +[0.937983] (osc_ros2) StdoutLine: {'line': b'running build_py\n'} +[0.938382] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/build/osc_ros2/build\n'} +[0.938896] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/build/osc_ros2/build/lib\n'} +[0.939373] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2\n'} +[0.939598] (osc_ros2) StdoutLine: {'line': b'copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2\n'} +[0.940779] (osc_ros2) StdoutLine: {'line': b'copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2\n'} +[0.941875] (osc_ros2) StdoutLine: {'line': b'running install\n'} +[0.942656] (osc_ros2) StdoutLine: {'line': b'running install_lib\n'} +[0.943416] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2\n'} +[0.944159] (osc_ros2) StdoutLine: {'line': b'copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2\n'} +[0.945268] (osc_ros2) StdoutLine: {'line': b'copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2\n'} +[0.946403] (osc_ros2) StdoutLine: {'line': b'byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc\n'} +[0.964085] (osc_ros2) StdoutLine: {'line': b'byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc\n'} +[0.965778] (osc_ros2) StdoutLine: {'line': b'running install_data\n'} +[0.966332] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index\n'} +[0.966697] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index\n'} +[0.967204] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages\n'} +[0.967648] (osc_ros2) StdoutLine: {'line': b'copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages\n'} +[0.968293] (osc_ros2) StdoutLine: {'line': b'copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2\n'} +[0.969222] (osc_ros2) StdoutLine: {'line': b'running install_egg_info\n'} +[0.971222] (osc_ros2) StdoutLine: {'line': b'Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info\n'} +[0.977345] (osc_ros2) StdoutLine: {'line': b'running install_scripts\n'} +[1.001801] (osc_ros2) StdoutLine: {'line': b'Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2\n'} +[1.002943] (osc_ros2) StdoutLine: {'line': b"writing list of installed files to '/BA/workspace/build/osc_ros2/install.log'\n"} +[1.017483] (-) TimerEvent: {} +[1.023489] (osc_ros2) CommandEnded: {'returncode': 0} +[1.050567] (osc_ros2) JobEnded: {'identifier': 'osc_ros2', 'rc': 0} +[1.051948] (-) EventReactorShutdown: {} diff --git a/workspace/log/build_2025-05-25_15-14-38/logger_all.log b/workspace/log/build_2025-05-25_15-14-38/logger_all.log new file mode 100644 index 0000000..0849fcd --- /dev/null +++ b/workspace/log/build_2025-05-25_15-14-38/logger_all.log @@ -0,0 +1,126 @@ +[0.226s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] +[0.227s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) +[0.381s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters +[0.382s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta' +[0.382s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta' +[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters +[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters +[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters +[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover +[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover +[0.382s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/BA/workspace' +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] +[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' +[0.394s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python'] +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake' +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python' +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py'] +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py' +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install'] +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore' +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored +[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install'] +[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore' +[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored +[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install'] +[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore' +[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install'] +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore' +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install' +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg'] +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg' +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta'] +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta' +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros'] +[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros' +[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python'] +[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake' +[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python' +[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py'] +[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py' +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['ignore', 'ignore_ament_install'] +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ignore' +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ignore_ament_install' +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['colcon_pkg'] +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'colcon_pkg' +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['colcon_meta'] +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'colcon_meta' +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['ros'] +[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ros' +[0.405s] DEBUG:colcon.colcon_core.package_identification:Package 'src/osc_ros2' with type 'ros.ament_python' and name 'osc_ros2' +[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults +[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover +[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults +[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover +[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_args' from command line to 'None' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_target' from command line to 'None' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_target_skip_unavailable' from command line to 'False' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_clean_cache' from command line to 'False' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_clean_first' from command line to 'False' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_force_configure' from command line to 'False' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'ament_cmake_args' from command line to 'None' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'catkin_cmake_args' from command line to 'None' +[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'catkin_skip_building_tests' from command line to 'False' +[0.426s] DEBUG:colcon.colcon_core.verb:Building package 'osc_ros2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/BA/workspace/build/osc_ros2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/BA/workspace/install/osc_ros2', 'merge_install': False, 'path': '/BA/workspace/src/osc_ros2', 'symlink_install': False, 'test_result_base': None} +[0.426s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor +[0.429s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete +[0.430s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/BA/workspace/src/osc_ros2' with build type 'ament_python' +[0.430s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'ament_prefix_path') +[0.434s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems +[0.434s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1' +[0.436s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv' +[0.437s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh' +[0.438s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.438s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.704s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/BA/workspace/src/osc_ros2' +[0.705s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.705s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[1.112s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/BA/workspace/src/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data +[1.455s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/BA/workspace/src/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data +[1.461s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2' for CMake module files +[1.462s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2' for CMake config files +[1.465s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib' +[1.465s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/bin' +[1.465s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib/pkgconfig/osc_ros2.pc' +[1.466s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib/python3.10/site-packages' +[1.466s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'pythonpath') +[1.466s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1' +[1.468s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv' +[1.469s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh' +[1.471s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/bin' +[1.472s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(osc_ros2) +[1.472s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.ps1' +[1.474s] INFO:colcon.colcon_core.shell:Creating package descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/package.dsv' +[1.475s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.sh' +[1.476s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.bash' +[1.477s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.zsh' +[1.479s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/BA/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2) +[1.481s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop +[1.481s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed +[1.481s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' +[1.482s] DEBUG:colcon.colcon_core.event_reactor:joining thread +[1.512s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send' +[1.512s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems +[1.512s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems +[1.512s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' +[1.514s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.NotSupported: Unable to autolaunch a dbus-daemon without a $DISPLAY for X11 +[1.514s] DEBUG:colcon.colcon_core.event_reactor:joined thread +[1.515s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.ps1' +[1.517s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/workspace/install/_local_setup_util_ps1.py' +[1.519s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.ps1' +[1.521s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.sh' +[1.523s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/workspace/install/_local_setup_util_sh.py' +[1.524s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.sh' +[1.525s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.bash' +[1.525s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.bash' +[1.526s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.zsh' +[1.527s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.zsh' diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/command.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/command.log new file mode 100644 index 0000000..2b1b253 --- /dev/null +++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/command.log @@ -0,0 +1,2 @@ +Invoking command in '/BA/workspace/src/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data +Invoked command in '/BA/workspace/src/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stderr.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stderr.log new file mode 100644 index 0000000..e69de29 diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log new file mode 100644 index 0000000..4bb3204 --- /dev/null +++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log @@ -0,0 +1,35 @@ +running egg_info +creating ../../build/osc_ros2/osc_ros2.egg-info +writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO +writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt +writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt +writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt +writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt +writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +running build +running build_py +creating /BA/workspace/build/osc_ros2/build +creating /BA/workspace/build/osc_ros2/build/lib +creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +running install +running install_lib +creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc +byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc +running install_data +creating /BA/workspace/install/osc_ros2/share/ament_index +creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index +creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages +copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages +copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2 +running install_egg_info +Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info +running install_scripts +Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2 +writing list of installed files to '/BA/workspace/build/osc_ros2/install.log' diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log new file mode 100644 index 0000000..4bb3204 --- /dev/null +++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log @@ -0,0 +1,35 @@ +running egg_info +creating ../../build/osc_ros2/osc_ros2.egg-info +writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO +writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt +writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt +writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt +writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt +writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +running build +running build_py +creating /BA/workspace/build/osc_ros2/build +creating /BA/workspace/build/osc_ros2/build/lib +creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +running install +running install_lib +creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc +byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc +running install_data +creating /BA/workspace/install/osc_ros2/share/ament_index +creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index +creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages +copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages +copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2 +running install_egg_info +Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info +running install_scripts +Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2 +writing list of installed files to '/BA/workspace/build/osc_ros2/install.log' diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log new file mode 100644 index 0000000..d2168de --- /dev/null +++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log @@ -0,0 +1,37 @@ +[0.680s] Invoking command in '/BA/workspace/src/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data +[0.930s] running egg_info +[0.930s] creating ../../build/osc_ros2/osc_ros2.egg-info +[0.931s] writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO +[0.931s] writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt +[0.932s] writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt +[0.932s] writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt +[0.933s] writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt +[0.933s] writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +[0.935s] reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +[0.936s] writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt' +[0.937s] running build +[0.937s] running build_py +[0.938s] creating /BA/workspace/build/osc_ros2/build +[0.938s] creating /BA/workspace/build/osc_ros2/build/lib +[0.938s] creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +[0.939s] copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +[0.940s] copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2 +[0.941s] running install +[0.942s] running install_lib +[0.943s] creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +[0.943s] copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +[0.944s] copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2 +[0.945s] byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc +[0.964s] byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc +[0.965s] running install_data +[0.965s] creating /BA/workspace/install/osc_ros2/share/ament_index +[0.966s] creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index +[0.966s] creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages +[0.967s] copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages +[0.967s] copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2 +[0.970s] running install_egg_info +[0.970s] Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info +[0.977s] running install_scripts +[1.001s] Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2 +[1.002s] writing list of installed files to '/BA/workspace/build/osc_ros2/install.log' +[1.023s] Invoked command in '/BA/workspace/src/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data diff --git a/workspace/log/latest b/workspace/log/latest new file mode 120000 index 0000000..b57d247 --- /dev/null +++ b/workspace/log/latest @@ -0,0 +1 @@ +latest_build \ No newline at end of file diff --git a/workspace/log/latest_build b/workspace/log/latest_build new file mode 120000 index 0000000..7b3fb52 --- /dev/null +++ b/workspace/log/latest_build @@ -0,0 +1 @@ +build_2025-05-25_15-14-38 \ No newline at end of file diff --git a/workspace/src/osc_ros2/osc_ros2/osc_ros2.py b/workspace/src/osc_ros2/osc_ros2/osc_ros2.py index 6f13d2c..6eb5678 100644 --- a/workspace/src/osc_ros2/osc_ros2/osc_ros2.py +++ b/workspace/src/osc_ros2/osc_ros2/osc_ros2.py @@ -923,7 +923,7 @@ def main(): use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower() if use_urdf == 'y': while True: - robot_urdf = input("Enter the path to the URDF file: ") + robot_urdf = input("Enter the absolute path to the URDF file: ") if os.path.isfile(robot_urdf): if not robot_urdf.endswith('.urdf'): print("The file is not a URDF file. Please enter a valid URDF file.") @@ -956,7 +956,7 @@ def main(): try: print('-+'*50) print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].") - print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + print("The cost mask 111000 means that the IK will only consider translation and no rotaion.") cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] if sum(cost_mask) <= robot.n and len(cost_mask) == 6: break