remove gitignore

workspace/build/joint_control/build/lib/joint_control/cart_tcp_server.py

@@ -0,0 +1,108 @@
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import roboticstoolbox as rtb
+import spatialmath as sm
+import xml.etree.ElementTree as ET
+import time
+
+class ScaledJointTrajectoryPublisher(Node):
+    """Node to publish joint trajectories based on OSC messages."""
+    def __init__(self, robot, joint_names):
+        super().__init__('scaled_joint_trajectory_publisher')
+        
+        # ROS2 Publisher
+        self.publisher = self.create_publisher(
+            JointTrajectory, 
+            '/scaled_joint_trajectory_controller/joint_trajectory', 
+            10
+        )
+
+        # Store received joint positions
+        self.joint_positions = [0.0] * len(joint_names)
+        self.joint_names = joint_names
+        self.robot = robot
+
+        osc_startup()
+        osc_udp_server("0.0.0.0", 8000, "osc_server")
+        print("Server started on 0.0.0.0:8000 \nready to receive messages in the following format: /tcp_coordinates [x, y, z, roll, pitch, yaw] optional: duration as last argument: /tcp_coordinates [x, y, z, roll, pitch, yaw, duration]")
+        # Register OSC handler
+        osc_method("/tcp_coordinates", self.tcp_coordinates_handler, argscheme=osm.OSCARG_DATAUNPACK)
+
+    def tcp_coordinates_handler(self, *args):
+        """Handles incoming OSC messages for tcp position."""
+        time1 = time.time()
+        if len(args) == len(self.joint_positions):
+            x, y, z, roll, pitch, yaw = args
+            duration = 4.0  # Default duration
+        elif len(args) == len(self.joint_positions) + 1:
+            x, y, z, roll, pitch, yaw, duration = args
+        else:
+            print("Invalid number of arguments")
+            return
+
+        # Create the desired end-effector pose
+        Tep = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
+
+        # Compute the inverse kinematics to get the joint angles
+        #time1 = time.time()
+        #sol = self.robot.ikine_LM(Tep)
+        #print(f"Time taken for ERobot: {time.time() - time1}")
+        #time1 = time.time()
+        #sol = self.robot.ikine_LM(Tep, q0=self.joint_positions)
+        #print(f"Time taken for ERobot with initial guess: {time.time() - time1}")
+        #time1 = time.time()
+        #sol = self.robot.ets().ikine_LM(Tep)
+        #print(f"Time taken for ETS: {time.time() - time1}")
+        #time1 = time.time()
+        sol = self.robot.ik_LM(Tep, q0=self.joint_positions)
+        #print(f"Time taken for ETS with initial guess: {time.time() - time1}")
+        if sol[1]:
+            joint_positions = list(sol[0])
+            self.send_trajectory(joint_positions, duration)
+            #print(f"Computed joint positions: {joint_positions}")
+        else:
+            print("Inverse kinematics failed")
+        print(f"Frequency: {1/(time.time() - time1)} Hz")
+
+    def send_trajectory(self, joint_positions, duration=4.0):
+        """Publish a joint trajectory command to move the robot."""
+        msg = JointTrajectory()
+        msg.joint_names = self.joint_names
+        point = JointTrajectoryPoint()
+        point.positions = joint_positions  # Updated 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)
+        print(f"Updated joint positions: {joint_positions}")
+
+def main():
+    """Main function to get joint names and start the ROS 2 & OSC system."""
+
+    tree = ET.parse('/BA/robot.urdf')
+    root = tree.getroot()
+    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']
+    robot = rtb.ERobot.URDF('/BA/robot.urdf')
+
+    rclpy.init()
+
+    node = ScaledJointTrajectoryPublisher(robot.ets(), joint_names)
+    
+    # Run both ROS 2 and OSC Server together
+    try:
+        while rclpy.ok():
+            osc_process()  # Handle one OSC request at a time
+            rclpy.spin_once(node, timeout_sec=0.1)  # Process ROS callbacks
+    except KeyboardInterrupt:
+        print("")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/joint_control/build/lib/joint_control/joint_angles_server.py

@@ -0,0 +1,80 @@
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import xml.etree.ElementTree as ET
+
+class ScaledJointTrajectoryPublisher(Node):
+    """Node to publish joint trajectories based on OSC messages."""
+    def __init__(self, joint_names):
+        super().__init__('scaled_joint_trajectory_publisher')
+        
+        # ROS2 Publisher
+        self.publisher = self.create_publisher(
+            JointTrajectory, 
+            '/scaled_joint_trajectory_controller/joint_trajectory', 
+            10
+        )
+
+        # Store received joint positions
+        self.joint_positions = [0.0] * len(joint_names)
+        self.joint_names = joint_names
+
+        osc_startup()
+        osc_udp_server("0.0.0.0", 8000, "osc_server")
+        print("Server started on 0.0.0.0:8000 \nready to receive messages in the following format: \n   /joint_angles [joint_positions]; optional: duration as last element, default is 3sec")
+        # Register OSC handler
+        osc_method("/joint_angles", self.joint_angles_handler, argscheme=osm.OSCARG_DATAUNPACK)
+
+    def joint_angles_handler(self, *args):
+        """Handles incoming OSC messages for joint positions."""
+        if len(args) == len(self.joint_positions): 
+            self.joint_positions = args
+            self.send_trajectory(self.joint_positions)
+        elif len(args) == len(self.joint_positions) + 1:
+            self.joint_positions = args[:-1]
+            self.send_trajectory(self.joint_positions, args[-1])
+            print(f'Duration: {args[-1]}')
+
+
+
+    def send_trajectory(self, joint_positions, duration=3.0):
+        """Publish a joint trajectory command to move the robot."""
+        msg = JointTrajectory()
+        msg.joint_names = self.joint_names
+        point = JointTrajectoryPoint()
+        point.positions = joint_positions  # Updated 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)
+        print(f"Updated joint positions: {self.joint_positions}")
+
+
+def main():
+    """Main function to get joint names and start the ROS 2 & OSC system."""
+
+    tree = ET.parse('/BA/robot.urdf')
+    root = tree.getroot()
+    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']
+
+    rclpy.init()
+
+    node = ScaledJointTrajectoryPublisher(joint_names)
+    
+    # Run both ROS 2 and OSC Server together
+    try:
+        while rclpy.ok():
+            osc_process()  # Handle one OSC request at a time
+            rclpy.spin_once(node, timeout_sec=0.1)  # Process ROS callbacks
+    except KeyboardInterrupt:
+        print("")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/joint_control/build/lib/joint_control/trajectory_server.py

@@ -0,0 +1,78 @@
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import xml.etree.ElementTree as ET
+
+class ScaledJointTrajectoryPublisher(Node):
+    """Node to publish joint trajectories based on OSC messages."""
+    def __init__(self, joint_names):
+        super().__init__('scaled_joint_trajectory_publisher')
+        
+        # ROS2 Publisher
+        self.publisher = self.create_publisher(
+            JointTrajectory, 
+            '/scaled_joint_trajectory_controller/joint_trajectory', 
+            10
+        )
+
+        # Store received joint positions
+        self.joint_positions = []
+        self.joint_names = joint_names
+
+        osc_startup()
+        osc_udp_server("0.0.0.0", 8000, "osc_server")
+        print("Server started on 0.0.0.0:8000 \n ready to receive messages in the following format: /joint_trajectroy [joint_positions] optional: duration as last argument")
+        # Register OSC handler
+        osc_method("/joint_angles", self.joint_angles_handler, argscheme=osm.OSCARG_DATAUNPACK)
+
+    def joint_angles_handler(self, *args):
+        """Handles incoming OSC messages for joint positions."""
+        msg = JointTrajectory()
+        msg.joint_names = self.joint_names
+        n=2
+        for arg in args:
+            if len(arg) == len(self.joint_names): 
+                point = JointTrajectoryPoint()
+                point.positions = list(arg)
+                point.time_from_start.sec = n
+                n+=2
+                point.time_from_start.nanosec = 0
+                msg.points.append(point)
+            elif len(arg) == len(self.joint_names) + 1:
+                point = JointTrajectoryPoint()
+                point.positions = list(arg[:-1])
+                point.time_from_start.sec = int(arg[-1])
+                point.time_from_start.nanosec = int((arg[-1] - int(arg[-1])) * 1e9)
+                msg.points.append(point)
+        
+        self.publisher.publish(msg)
+        print("published joint positions")
+
+
+def main():
+    """Main function to get joint names and start the ROS 2 & OSC system."""
+
+    tree = ET.parse('/BA/robot.urdf')
+    root = tree.getroot()
+    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']
+
+    rclpy.init()
+
+    node = ScaledJointTrajectoryPublisher(joint_names)
+    
+    # Run both ROS 2 and OSC Server together
+    try:
+        while rclpy.ok():
+            osc_process()  # Handle one OSC request at a time
+            rclpy.spin_once(node, timeout_sec=0.1)  # Process ROS callbacks
+    except KeyboardInterrupt:
+        print("")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart.py

@@ -0,0 +1,106 @@
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import xml.etree.ElementTree as ET
+import roboticstoolbox as rtb
+import spatialmath as sm
+import numpy as np
+import time
+
+class ScaledJointTrajectoryPublisher(Node):
+    """Node to publish joint trajectories based on OSC messages."""
+    def __init__(self, joint_names, robot):
+        super().__init__('scaled_joint_trajectory_publisher')
+        
+        self.robot = robot
+
+        # ROS2 Publisher
+        self.publisher = self.create_publisher(
+            JointTrajectory, 
+            '/scaled_joint_trajectory_controller/joint_trajectory', 
+            10
+        )
+
+        # Store received joint positions
+        self.joint_names = joint_names
+
+        osc_startup()
+        osc_udp_server("0.0.0.0", 6080, "osc_server")
+        print("Server started on 0.0.0.0:8000 \n ready to receive messages in the following format: /joint_trajectroy [tcp_coordinates0, tcp_coordinates1, ...] optional: timestamp as last element of each tcp_coordinates")
+        # Register OSC handler
+        osc_method("/joint_trajectory", self.joint_angles_handler, argscheme=osm.OSCARG_DATAUNPACK)
+
+    def joint_angles_handler(self, *args):
+        """Handles incoming OSC messages for joint positions."""
+        time1 = time.time()
+        print("Received joint positions")
+        msg = JointTrajectory()
+        msg.joint_names = self.joint_names
+        joint_positions = [0.0] * len(self.joint_names)
+        steps = 30
+        vel = 0.4
+        if len(args[0]) == len(self.joint_names):
+            n=2.0
+            for i in range(len(args)-1):
+                x, y, z, roll, pitch, yaw = args[i]
+                Tep1 = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
+                x, y, z, roll, pitch, yaw = args[i+1]
+                Tep2 = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
+                cart_traj = rtb.ctraj(Tep1, Tep2, steps)
+                for j in range(steps-1):
+                    sol = self.robot.ik_LM(cart_traj[j], q0=joint_positions)
+                    dist = np.linalg.norm(cart_traj[j].t - cart_traj[j+1].t)
+                    point = JointTrajectoryPoint()
+                    point.positions = list(sol[0])
+                    joint_positions = list(sol[0])
+                    point.time_from_start.sec = int(n)
+                    point.time_from_start.nanosec = int((n - int(n)) * 1e9)
+                    n+=dist/vel
+                    n+=0.1
+                    msg.points.append(point)
+
+        elif len(args[0]) == len(self.joint_names) + 1:
+            for i in range(len(args)):
+                x, y, z, roll, pitch, yaw, timetag = args[i]
+                Tep = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
+                x, y, z, roll, pitch, yaw = args[i+1][:-1]
+                Tep2 = sm.SE3(x, y, z) * sm.SE3.RPY([roll, pitch, yaw], order='xyz')
+                cart_traj = rtb.ctraj(Tep, Tep2, steps)
+                for Tep in cart_traj:
+                    sol = self.robot.ik_LM(Tep, q0=joint_positions)
+
+        else:
+            print("Invalid number or format of arguments")
+        
+        self.publisher.publish(msg)
+        print("published joint positions")
+        print(f'Frequency: {round(1/(time.time()-time1),2)} Hz')
+
+
+def main():
+    """Main function to get joint names and start the ROS 2 & OSC system."""
+
+    tree = ET.parse('/BA/robot.urdf')
+    root = tree.getroot()
+    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']
+    robot = rtb.ERobot.URDF('/BA/robot.urdf')
+    rclpy.init()
+
+    node = ScaledJointTrajectoryPublisher(joint_names, robot)
+
+    # Run both ROS 2 and OSC Server together
+    try:
+        while rclpy.ok():
+            osc_process()  # Handle one OSC request at a time
+            rclpy.spin_once(node, timeout_sec=0.1)  # Process ROS callbacks
+    except KeyboardInterrupt:
+        print("")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/joint_info/build/lib/joint_info/osc_joint_states_pub.py

@@ -0,0 +1,101 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from osc4py3.as_eventloop import *
+from osc4py3 import oscbuildparse
+
+class JointStateOSC(Node):
+    def __init__(self):
+        super().__init__('joint_states_osc')
+
+        # Create a ROS 2 subscriber to /joint_states topic
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_states_callback,
+            1  # Queue size
+        )
+
+        # Open Sound Control (OSC) Client settings
+        self.osc_ip = "127.0.0.1"   # Replace with the target IP
+        self.osc_port = 8000        # Replace with the target port
+        # Start the OSC system
+        osc_startup()
+
+        # Make client channels to send packets
+        osc_udp_client(self.osc_ip, self.osc_port, "osc_client")
+
+    def joint_states_callback(self, msg):
+        """Callback function to handle incoming joint states."""
+        header = msg.header
+        joint_names = msg.name
+        joint_positions = msg.position
+        joint_velocity = msg.velocity
+        joint_effort = msg.effort
+
+        joint_names_str = "\n- ".join(joint_names)
+        joint_positions_str = "\n- ".join(map(str, joint_positions))
+        joint_velocity_str = "\n- ".join(map(str, joint_velocity))
+        joint_effort_str = "\n- ".join(map(str, joint_effort))
+
+        info = f"""
+---
+header:
+    stamp:
+        sec: {header.stamp.sec}
+        nanosec: {header.stamp.nanosec}
+name:
+- {joint_names_str}
+position:
+- {joint_positions_str}
+velocity:
+- {joint_velocity_str}
+effort:
+- {joint_effort_str}
+---"""
+
+        # Send the info message
+        msg_info = oscbuildparse.OSCMessage("/joint_states", None, [info])
+        msg_name = oscbuildparse.OSCMessage("/joint_states/name", None, [i for i in joint_names])
+        msg_position = oscbuildparse.OSCMessage("/joint_states/position", None, [i for i in joint_positions])
+        msg_velocity = oscbuildparse.OSCMessage("/joint_states/velocity", None, [i for i in joint_velocity])
+        msg_effort = oscbuildparse.OSCMessage("/joint_states/effort", None, [i for i in joint_effort])
+        
+        bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_info, msg_name, msg_position, msg_velocity, msg_effort])
+        
+        osc_send(bun, "osc_client")
+        osc_process()
+        #print(f"Publishing: {info}")
+
+
+'''
+        # Send each joint state as an OSC message
+        for i, name in enumerate(joint_names):
+            #msg_sec = oscbuildparse.OSCMessage(f"/joint_states/header/sec", None, [header.stamp.sec])
+            #msg_nanosec = oscbuildparse.OSCMessage(f"/joint_states/header/nanosec", None, [header.stamp.nanosec])
+            msg_position = oscbuildparse.OSCMessage(f"/joint_states/{name}/position", None, [joint_positions[i]])
+            msg_velocity = oscbuildparse.OSCMessage(f"/joint_states/{name}/velocity", None, [joint_velocity[i]])
+            msg_effort = oscbuildparse.OSCMessage(f"/joint_states/{name}/effort", None, [joint_effort[i]])
+
+            bun = oscbuildparse.OSCBundle(oscbuildparse.unixtime2timetag(header.stamp.sec + header.stamp.nanosec), [msg_position, msg_velocity, msg_effort])
+            #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY , [msg_position, msg_velocity, msg_effort])
+            osc_send(bun, "osc_client")
+            osc_process()
+            #print(f"OSC bundle sent for joint {name}")
+'''
+
+def main():
+    rclpy.init()
+    node = JointStateOSC()
+    print(f"Publishing joint states to OSC on {node.osc_ip}:{node.osc_port}...")
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("shutting down...")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/joint_info/build/lib/joint_info/osc_joint_states_sub.py

@@ -0,0 +1,41 @@
+from osc4py3.as_eventloop import *
+from osc4py3 import oscmethod as osm
+import time
+
+def joint_states_handler(address, *args):
+    """Handler function to process incoming joint states."""
+    #print([i*180/3.141 for i in args]) # for printing joint angles in degrees
+
+    if address == "/joint_states":
+        print(args[0])
+
+def main():
+    ip = "0.0.0.0"  # IP address to listen on
+    port = 8000       # Port to listen on
+
+    # Start the OSC system
+    osc_startup()
+
+    # Make server channels to receive packets
+    osc_udp_server(ip, port, "osc_server")
+
+    # Associate Python functions with message address patterns
+    osc_method("/joint_states", joint_states_handler, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
+
+    print(f"Listening for OSC messages on {ip}:{port}...")
+
+    try:
+        # Run the event loop
+        while True:
+            osc_process()  # Process OSC messages
+            time.sleep(0.01)  # Sleep to avoid high CPU usage
+
+    except KeyboardInterrupt:
+        print("")
+
+    finally:
+        # Properly close the system
+        osc_terminate()
+
+if __name__ == "__main__":
+    main()

workspace/build/joint_info/build/lib/joint_info/tcp_cart_pos.py

@@ -0,0 +1,75 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from osc4py3.as_eventloop import *
+from osc4py3 import oscbuildparse
+import roboticstoolbox as rtb
+import xml.etree.ElementTree as ET
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+
+class JointStateOSC(Node):
+    def __init__(self, robot, joint_names):
+        super().__init__('joint_states_osc')
+
+        self.joint_names_urdf = joint_names
+        self.robot = robot
+
+        # Create a ROS 2 subscriber to /joint_states topic
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_states_callback,
+            1  # Queue size
+        )
+
+        # Open Sound Control (OSC) Client settings
+        self.osc_ip = "127.0.0.1"   # Replace with the target IP
+        self.osc_port = 8000        # Replace with the target port
+
+        # Start the OSC system
+        osc_startup()
+
+        # Make client channels to send packets
+        osc_udp_client(self.osc_ip, self.osc_port, "osc_client")
+
+    def joint_states_callback(self, msg):
+        """Callback function to handle incoming joint states."""
+        header = msg.header
+        joint_names = msg.name
+        joint_positions = msg.position
+        joint_positions = [joint_positions[joint_names.index(joint)] for joint in self.joint_names_urdf]
+        tcp_pos = self.robot.fkine(joint_positions) #, end='ft_frame')
+        tcp_xyz = tcp_pos.t
+        tcp_rot = tcp_pos.R
+        rotation_vector = R.from_matrix(tcp_rot).as_rotvec()
+        translation = oscbuildparse.OSCMessage("/tcp_position_t", None, tcp_xyz.tolist())
+        osc_send(translation, "osc_client")
+        rotation = oscbuildparse.OSCMessage("/tcp_position_R", None, rotation_vector.tolist())
+        osc_send(rotation, "osc_client")
+        osc_process()
+        #print(f"Published TCP position: {tcp_pos}")
+        
+
+
+def main():
+    rclpy.init()
+    robot = rtb.ERobot.URDF('/BA/robot.urdf')
+    tree = ET.parse('/BA/robot.urdf')
+    root = tree.getroot()
+    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']
+
+    node = JointStateOSC(robot, joint_names)
+
+    print(f"Publishing TCP coordinates to OSC on {node.osc_ip}:{node.osc_port}...")
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("shutting down...")
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()

workspace/build/mock_robot/build/lib/mock_robot/robot_node.py

@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+
+import numpy as np
+import time
+
+class RobotNode(Node):
+
+    def __init__(self):
+        super().__init__('robot_node')
+
+        self.l1 = 0.5
+        self.l2 = 0.3
+        self.x = self.l1 + self.l2
+        self.y = 0.0
+        self.theta1 = 0.0
+        self.theta2 = 0.0
+
+        self.publisher = self.create_publisher(
+            JointState, 
+            '/joint_states', 
+            10
+        )
+
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = JointState()
+        msg.name = ['joint1', 'joint2']
+        msg.position = [self.theta1, self.theta2]
+        self.publisher.publish(msg)
+        self.get_logger().info(f'x = {self.x}, y = {self.y}, theta1 = {self.theta1}, theta2 = {self.theta2}')
+
+
+        self.subcriber = self.create_subscription(
+            JointTrajectory,
+            '/joint_trajectory_controller/joint_trajectory',
+            self.joint_trajectory_callback,
+            10
+        )
+
+    def joint_trajectory_callback(self, msg):
+        joint_names = msg.joint_names
+        duration = 0
+        for point in msg.points:
+            duration = msg.time_from_start_sec + msg.time_from_start_nanosec / 1e9 - duration
+            for i in range(duration *10):
+                self.theta1 += (point.positions[0] - self.theta1) / 10
+                self.theta2 += (point.positions[1] - self.theta2) / 10
+                self.x = self.l1 * np.cos(self.theta1) + self.l2 * np.cos(self.theta1 + self.theta2)
+                self.y = self.l1 * np.sin(self.theta1) + self.l2 * np.sin(self.theta1 + self.theta2)
+                time.sleep(0.1)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = RobotNode()
+    rclpy.spin(node)
+    rclpy.shutdown()

workspace/build/mock_robot/colcon_build.rc

@@ -0,0 +1 @@
+0

workspace/build/mock_robot/colcon_command_prefix_setup_py.sh

@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em

workspace/build/mock_robot/colcon_command_prefix_setup_py.sh.env

@@ -0,0 +1,20 @@
+AMENT_PREFIX_PATH=/BA/workspace/install/painting_robot_control:/BA/workspace/install/mock_robot:/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/opt/ros/humble
+COLCON=1
+COLCON_PREFIX_PATH=/BA/workspace/install
+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/workspace/src
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+PWD=/BA/workspace/build/mock_robot
+PYTHONPATH=/BA/workspace/build/painting_robot_control:/BA/workspace/install/painting_robot_control/lib/python3.10/site-packages:/BA/workspace/build/mock_robot:/BA/workspace/install/mock_robot/lib/python3.10/site-packages:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages:/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

workspace/build/mock_robot/mock_robot

@@ -0,0 +1 @@
+/BA/workspace/src/mock_robot/mock_robot

workspace/build/mock_robot/mock_robot.egg-info/PKG-INFO

@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: mock-robot
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: root
+Maintainer-email: root@todo.todo
+License: TODO: License declaration
+Platform: UNKNOWN
+
+UNKNOWN
+

workspace/build/mock_robot/mock_robot.egg-info/SOURCES.txt

@@ -0,0 +1,20 @@
+package.xml
+setup.cfg
+setup.py
+../../build/mock_robot/mock_robot.egg-info/PKG-INFO
+../../build/mock_robot/mock_robot.egg-info/SOURCES.txt
+../../build/mock_robot/mock_robot.egg-info/dependency_links.txt
+../../build/mock_robot/mock_robot.egg-info/entry_points.txt
+../../build/mock_robot/mock_robot.egg-info/requires.txt
+../../build/mock_robot/mock_robot.egg-info/top_level.txt
+../../build/mock_robot/mock_robot.egg-info/zip-safe
+mock_robot/__init__.py
+mock_robot/robot_node.py
+mock_robot.egg-info/PKG-INFO
+mock_robot.egg-info/SOURCES.txt
+mock_robot.egg-info/dependency_links.txt
+mock_robot.egg-info/entry_points.txt
+mock_robot.egg-info/requires.txt
+mock_robot.egg-info/top_level.txt
+mock_robot.egg-info/zip-safe
+resource/mock_robot

workspace/build/mock_robot/mock_robot.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

workspace/build/mock_robot/mock_robot.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+mock_robot = mock_robot.robot_node:main
+

workspace/build/mock_robot/mock_robot.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

workspace/build/mock_robot/mock_robot.egg-info/top_level.txt

@@ -0,0 +1 @@
+mock_robot

workspace/build/mock_robot/mock_robot.egg-info/zip-safe

@@ -0,0 +1 @@
+

workspace/build/mock_robot/package.xml

@@ -0,0 +1 @@
+/BA/workspace/src/mock_robot/package.xml

workspace/build/mock_robot/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/mock_robot'

workspace/build/mock_robot/resource/mock_robot

@@ -0,0 +1 @@
+/BA/workspace/src/mock_robot/resource/mock_robot

workspace/build/mock_robot/setup.cfg

@@ -0,0 +1 @@
+/BA/workspace/src/mock_robot/setup.cfg

workspace/build/mock_robot/setup.py

@@ -0,0 +1 @@
+/BA/workspace/src/mock_robot/setup.py

workspace/build/mock_robot/share/mock_robot/hook/pythonpath_develop.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/mock_robot

workspace/build/mock_robot/share/mock_robot/hook/pythonpath_develop.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\/BA/workspace/build/mock_robot"

workspace/build/mock_robot/share/mock_robot/hook/pythonpath_develop.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/build/mock_robot"

workspace/build/painting_robot_control/colcon_build.rc

@@ -0,0 +1 @@
+0

workspace/build/painting_robot_control/colcon_command_prefix_setup_py.sh

@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em

workspace/build/painting_robot_control/colcon_command_prefix_setup_py.sh.env

@@ -0,0 +1,20 @@
+AMENT_PREFIX_PATH=/BA/workspace/install/painting_robot_control:/BA/workspace/install/mock_robot:/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/opt/ros/humble
+COLCON=1
+COLCON_PREFIX_PATH=/BA/workspace/install
+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/workspace/src
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+PWD=/BA/workspace/build/painting_robot_control
+PYTHONPATH=/BA/workspace/build/painting_robot_control:/BA/workspace/install/painting_robot_control/lib/python3.10/site-packages:/BA/workspace/build/mock_robot:/BA/workspace/install/mock_robot/lib/python3.10/site-packages:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/install/joint_control/lib/python3.10/site-packages:/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

workspace/build/painting_robot_control/package.xml

@@ -0,0 +1 @@
+/BA/workspace/src/painting_robot_control/package.xml

workspace/build/painting_robot_control/painting_robot_control

@@ -0,0 +1 @@
+/BA/workspace/src/painting_robot_control/painting_robot_control

workspace/build/painting_robot_control/painting_robot_control.egg-info/PKG-INFO

@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: painting-robot-control
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: root
+Maintainer-email: root@todo.todo
+License: TODO: License declaration
+Platform: UNKNOWN
+
+UNKNOWN
+

workspace/build/painting_robot_control/painting_robot_control.egg-info/SOURCES.txt

@@ -0,0 +1,13 @@
+package.xml
+setup.cfg
+setup.py
+painting_robot_control/__init__.py
+painting_robot_control/com_node.py
+painting_robot_control.egg-info/PKG-INFO
+painting_robot_control.egg-info/SOURCES.txt
+painting_robot_control.egg-info/dependency_links.txt
+painting_robot_control.egg-info/entry_points.txt
+painting_robot_control.egg-info/requires.txt
+painting_robot_control.egg-info/top_level.txt
+painting_robot_control.egg-info/zip-safe
+resource/painting_robot_control

workspace/build/painting_robot_control/painting_robot_control.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

workspace/build/painting_robot_control/painting_robot_control.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+painting_robot_controller = painting_robot_control.com_node:main
+

workspace/build/painting_robot_control/painting_robot_control.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

workspace/build/painting_robot_control/painting_robot_control.egg-info/top_level.txt

@@ -0,0 +1 @@
+painting_robot_control

workspace/build/painting_robot_control/painting_robot_control.egg-info/zip-safe

@@ -0,0 +1 @@
+

workspace/build/painting_robot_control/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/painting_robot_control'

workspace/build/painting_robot_control/resource/painting_robot_control

@@ -0,0 +1 @@
+/BA/workspace/src/painting_robot_control/resource/painting_robot_control

workspace/build/painting_robot_control/setup.cfg

@@ -0,0 +1 @@
+/BA/workspace/src/painting_robot_control/setup.cfg

workspace/build/painting_robot_control/setup.py

@@ -0,0 +1 @@
+/BA/workspace/src/painting_robot_control/setup.py

workspace/build/painting_robot_control/share/painting_robot_control/hook/pythonpath_develop.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/painting_robot_control

workspace/build/painting_robot_control/share/painting_robot_control/hook/pythonpath_develop.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\/BA/workspace/build/painting_robot_control"

workspace/build/painting_robot_control/share/painting_robot_control/hook/pythonpath_develop.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/build/painting_robot_control"

workspace/install/joint_control/lib/joint_control/joint_control 2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','joint_control'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'joint_control')())

workspace/install/joint_control/lib/joint_control/plugdata

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'plugdata')())

workspace/install/joint_control/lib/joint_control/plugdata2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata2'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'plugdata2')())

workspace/install/joint_control/lib/joint_control/plugdata3

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata3'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'plugdata3')())

workspace/install/joint_control/lib/joint_control/plugdata_cart

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata_cart'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'plugdata_cart')())

workspace/install/joint_control/lib/joint_control/plugdata_cart_fix

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata_cart_fix'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'plugdata_cart_fix')())

workspace/install/joint_control/lib/joint_control/plugdata_cart_smooth

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata_cart_smooth'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'plugdata_cart_smooth')())

workspace/install/joint_control/lib/joint_control/test

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','test'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'test')())

workspace/install/joint_control/lib/joint_control/trajectory_server 2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server')())

workspace/install/joint_control/lib/joint_control/trajectory_server_cart_fast

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_cart_fast'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_cart_fast')())

workspace/install/joint_control/lib/joint_control/trajectory_server_cart_fast_1

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_cart_fast_1'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_cart_fast_1')())

workspace/install/joint_control/lib/joint_control/trajectory_server_cart_fast_max_acc

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_cart_fast_max_acc'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_cart_fast_max_acc')())

workspace/install/joint_control/lib/joint_control/trajectory_server_cart_fast_smooth

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_cart_fast_smooth'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_cart_fast_smooth')())

workspace/install/joint_control/lib/joint_control/trajectory_server_new

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_new'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_new')())

workspace/install/joint_control/lib/joint_control/trajectory_server_new_cart

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_new_cart'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_new_cart')())

workspace/install/joint_control/lib/joint_control/trajectory_server_trapezoidal

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_trapezoidal'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-control'
+
+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('joint-control', 'console_scripts', 'trajectory_server_trapezoidal')())

workspace/install/joint_control/share/joint_control/package 2.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joint_control</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <depend>osc4py3</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>xml</depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/install/joint_control/share/joint_control/package 3.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joint_control</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <depend>osc4py3</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>xml</depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/install/joint_info/lib/joint_info/joint_states_pub 2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-info','console_scripts','joint_states_pub'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-info'
+
+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('joint-info', 'console_scripts', 'joint_states_pub')())

workspace/install/joint_info/lib/joint_info/joint_states_sub 2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-info','console_scripts','joint_states_sub'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-info'
+
+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('joint-info', 'console_scripts', 'joint_states_sub')())

workspace/install/joint_info/lib/joint_info/tcp_cart_pos 2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'joint-info','console_scripts','tcp_cart_pos'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'joint-info'
+
+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('joint-info', 'console_scripts', 'tcp_cart_pos')())

workspace/install/joint_info/share/joint_info/package 2.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joint_info</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>osc4py3</depend>
+  <depend>roboticstoolbox</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/install/joint_info/share/joint_info/package 3.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joint_info</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>osc4py3</depend>
+  <depend>roboticstoolbox</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/install/mock_robot/lib/mock_robot/mock_robot

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'mock-robot','console_scripts','mock_robot'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'mock-robot'
+
+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('mock-robot', 'console_scripts', 'mock_robot')())

workspace/install/mock_robot/lib/mock_robot/mock_robot_2

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'mock-robot','console_scripts','mock_robot_2'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'mock-robot'
+
+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('mock-robot', 'console_scripts', 'mock_robot_2')())

workspace/install/mock_robot/lib/python3.10/site-packages/mock-robot.egg-link

@@ -0,0 +1,2 @@
+/BA/workspace/build/mock_robot
+.

workspace/install/mock_robot/share/ament_index/resource_index/packages/mock_robot

@@ -0,0 +1 @@
+/BA/workspace/build/mock_robot/resource/mock_robot

workspace/install/mock_robot/share/colcon-core/packages/mock_robot

@@ -0,0 +1 @@
+rclpy

workspace/install/mock_robot/share/mock_robot/hook/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

workspace/install/mock_robot/share/mock_robot/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"

workspace/install/mock_robot/share/mock_robot/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"

workspace/install/mock_robot/share/mock_robot/hook/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages

workspace/install/mock_robot/share/mock_robot/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"

workspace/install/mock_robot/share/mock_robot/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"

workspace/install/mock_robot/share/mock_robot/package 2.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mock_robot</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/install/mock_robot/share/mock_robot/package 3.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mock_robot</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/install/mock_robot/share/mock_robot/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/mock_robot/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

workspace/install/mock_robot/share/mock_robot/package.dsv

@@ -0,0 +1,9 @@
+source;share/mock_robot/hook/pythonpath.ps1
+source;share/mock_robot/hook/pythonpath.dsv
+source;share/mock_robot/hook/pythonpath.sh
+source;share/mock_robot/hook/ament_prefix_path.ps1
+source;share/mock_robot/hook/ament_prefix_path.dsv
+source;share/mock_robot/hook/ament_prefix_path.sh
+source;../../build/mock_robot/share/mock_robot/hook/pythonpath_develop.ps1
+source;../../build/mock_robot/share/mock_robot/hook/pythonpath_develop.dsv
+source;../../build/mock_robot/share/mock_robot/hook/pythonpath_develop.sh

workspace/install/mock_robot/share/mock_robot/package.ps1

@@ -0,0 +1,117 @@
+# 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/mock_robot/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/mock_robot/hook/ament_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\../../build/mock_robot/share/mock_robot/hook/pythonpath_develop.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

workspace/install/mock_robot/share/mock_robot/package.sh

@@ -0,0 +1,88 @@
+# 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/mock_robot"
+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/mock_robot/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/mock_robot/hook/ament_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/mock_robot/share/mock_robot/hook/pythonpath_develop.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

workspace/install/mock_robot/share/mock_robot/package.xml

@@ -0,0 +1 @@
+/BA/workspace/build/mock_robot/package.xml

workspace/install/mock_robot/share/mock_robot/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/mock_robot/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX