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This commit is contained in:
Alexander Schaefer
2025-04-22 17:10:24 +02:00
parent 97cd67a008
commit 33f21d3096
519 changed files with 18046 additions and 0 deletions
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workspace/build/joint_control/build/lib/joint_control/__init__.py Normal file
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workspace/build/joint_control/build/lib/joint_control/cart_tcp_server.py Normal file
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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()

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workspace/build/joint_control/build/lib/joint_control/joint_angles_server.py Normal file
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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()

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workspace/build/joint_control/build/lib/joint_control/trajectory_server.py Normal file
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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()

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workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart.py Normal file
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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()

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workspace/build/joint_info/build/lib/joint_info/__init__.py Normal file
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workspace/build/joint_info/build/lib/joint_info/osc_joint_states_pub.py Normal file
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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()

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workspace/build/joint_info/build/lib/joint_info/osc_joint_states_sub.py Normal file
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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()

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workspace/build/joint_info/build/lib/joint_info/tcp_cart_pos.py Normal file
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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()

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workspace/build/mock_robot/build/lib/mock_robot/__init__.py Normal file
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workspace/build/mock_robot/build/lib/mock_robot/robot_node.py Normal file
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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()

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workspace/build/mock_robot/colcon_build.rc Normal file
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0

1
workspace/build/mock_robot/colcon_command_prefix_setup_py.sh Normal file
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@@ -0,0 +1 @@
# generated from colcon_core/shell/template/command_prefix.sh.em

20
workspace/build/mock_robot/colcon_command_prefix_setup_py.sh.env Normal file
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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

1
workspace/build/mock_robot/mock_robot Symbolic link
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@@ -0,0 +1 @@
/BA/workspace/src/mock_robot/mock_robot

12
workspace/build/mock_robot/mock_robot.egg-info/PKG-INFO Normal file
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@@ -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

20
workspace/build/mock_robot/mock_robot.egg-info/SOURCES.txt Normal file
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@@ -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

1
workspace/build/mock_robot/mock_robot.egg-info/dependency_links.txt Normal file
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@@ -0,0 +1 @@

3
workspace/build/mock_robot/mock_robot.egg-info/entry_points.txt Normal file
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@@ -0,0 +1,3 @@
[console_scripts]
mock_robot = mock_robot.robot_node:main

1
workspace/build/mock_robot/mock_robot.egg-info/requires.txt Normal file
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@@ -0,0 +1 @@
setuptools

1
workspace/build/mock_robot/mock_robot.egg-info/top_level.txt Normal file
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@@ -0,0 +1 @@
mock_robot

1
workspace/build/mock_robot/mock_robot.egg-info/zip-safe Normal file
View File

@@ -0,0 +1 @@

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

BIN
workspace/build/mock_robot/prefix_override/__pycache__/sitecustomize.cpython-310.pyc Normal file
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4
workspace/build/mock_robot/prefix_override/sitecustomize.py Normal file
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@@ -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'

1
workspace/build/mock_robot/resource/mock_robot Symbolic link
View File

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

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

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

1
workspace/build/mock_robot/share/mock_robot/hook/pythonpath_develop.dsv Normal file
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@@ -0,0 +1 @@
prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/mock_robot

3
workspace/build/mock_robot/share/mock_robot/hook/pythonpath_develop.ps1 Normal file
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@@ -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"

3
workspace/build/mock_robot/share/mock_robot/hook/pythonpath_develop.sh Normal file
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@@ -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"

1
workspace/build/painting_robot_control/colcon_build.rc Normal file
View File

@@ -0,0 +1 @@
0

1
workspace/build/painting_robot_control/colcon_command_prefix_setup_py.sh Normal file
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@@ -0,0 +1 @@
# generated from colcon_core/shell/template/command_prefix.sh.em

20
workspace/build/painting_robot_control/colcon_command_prefix_setup_py.sh.env Normal file
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@@ -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

1
workspace/build/painting_robot_control/package.xml Symbolic link
View File

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

1
workspace/build/painting_robot_control/painting_robot_control Symbolic link
View File

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

12
workspace/build/painting_robot_control/painting_robot_control.egg-info/PKG-INFO Normal file
View File

@@ -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

13
workspace/build/painting_robot_control/painting_robot_control.egg-info/SOURCES.txt Normal file
View File

@@ -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

1
workspace/build/painting_robot_control/painting_robot_control.egg-info/dependency_links.txt Normal file
View File

@@ -0,0 +1 @@

3
workspace/build/painting_robot_control/painting_robot_control.egg-info/entry_points.txt Normal file
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@@ -0,0 +1,3 @@
[console_scripts]
painting_robot_controller = painting_robot_control.com_node:main

1
workspace/build/painting_robot_control/painting_robot_control.egg-info/requires.txt Normal file
View File

@@ -0,0 +1 @@
setuptools

1
workspace/build/painting_robot_control/painting_robot_control.egg-info/top_level.txt Normal file
View File

@@ -0,0 +1 @@
painting_robot_control

1
workspace/build/painting_robot_control/painting_robot_control.egg-info/zip-safe Normal file
View File

@@ -0,0 +1 @@

BIN
workspace/build/painting_robot_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc Normal file
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Binary file not shown.

4
workspace/build/painting_robot_control/prefix_override/sitecustomize.py Normal file
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@@ -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'

1
workspace/build/painting_robot_control/resource/painting_robot_control Symbolic link
View File

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

1
workspace/build/painting_robot_control/setup.cfg Symbolic link
View File

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

1
workspace/build/painting_robot_control/setup.py Symbolic link
View File

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

1
workspace/build/painting_robot_control/share/painting_robot_control/hook/pythonpath_develop.dsv Normal file
View File

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

3
workspace/build/painting_robot_control/share/painting_robot_control/hook/pythonpath_develop.ps1 Normal file
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@@ -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"

3
workspace/build/painting_robot_control/share/painting_robot_control/hook/pythonpath_develop.sh Normal file
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@@ -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"