remove gitignore
This commit is contained in:
Alexander Schaefer
parent
97cd67a008
commit
33f21d3096
43
MATLAB/log_plot.m
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43
MATLAB/log_plot.m
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clear
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close all
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clc
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folder_path = './samples/sample4/joint_states_logs';
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files = dir(fullfile(folder_path, '*.csv'));
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folder_path_trajectroy = './samples/sample4/joint_trajectories';
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files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
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l = 2.5;
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u = 3.5;
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for k = 1:length(files)
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figure(k)
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grid on
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file_name = files(k).name;
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file_path = fullfile(folder_path, file_name);
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% Example: Read the file
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state = readtable(file_path);
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if k == 1
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offset = state.timestamp(1);
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end
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for i = 1:length(state.timestamp)
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state.timestamp(i)=state.timestamp(i)-offset;
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end
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hold on
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for s = 1:length(files_trajectroy)
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file_name_trajectroy = files_trajectroy(s).name;
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file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
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% Example: Read the file
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T = readtable(file_path_trajectroy);
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for i=1:length(T.timestamp)
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T.timestamp(i)=T.timestamp(i)-offset;
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end
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plot(T.timestamp, T.(file_name(1:end-4)), 'Color', [0 0 0])
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dy = diff(T.(file_name(1:end-4))) ./ diff(T.timestamp);
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x_mid = T.timestamp(1:end-1) + diff(T.timestamp)/2; % midpoints between x-values
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plot(x_mid,dy,'Color',[1 0 0])
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end
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end
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43
MATLAB/log_plot_cart.m
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43
MATLAB/log_plot_cart.m
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clear
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close all
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clc
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file = './samples/sample13/joint_states_cart_logs/cartesian.csv';
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folder_path_trajectroy = './samples/sample13/joint_trajectories_cart';
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files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
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l = 0;
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u = 60;
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state = readtable(file);
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offset = state.timestamp(1);
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for i = 1:length(state.timestamp)
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state.timestamp(i)=state.timestamp(i)-offset;
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end
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val = ["x","y","z","roll", "pitch", "yaw"];
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for k = 1:6
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figure(k)
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grid on
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hold on
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plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.(val(k))(state.timestamp >=l & state.timestamp <=u), 'Color',[1 0 0],'LineWidth',4, 'DisplayName','Transform');
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title(val(k), 'FontSize',16)
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xlabel('Time [s]', 'FontSize',30)
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ylabel('Pos [m]', 'FontSize',30)
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legend('FontSize',30)
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legend show
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for s = 1:length(files_trajectroy)
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file_name_trajectroy = files_trajectroy(s).name;
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file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
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% Example: Read the file
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T = readtable(file_path_trajectroy);
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for i=1:length(T.timestamp)
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T.timestamp(i)=T.timestamp(i)-offset;
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end
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plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(val(k))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'HandleVisibility','off', 'LineWidth',2);
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end
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plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(val(k))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2);
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end
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53
MATLAB/log_plot_subplots.m
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53
MATLAB/log_plot_subplots.m
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clear
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close all
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clc
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folder_path = './samples/sample13/joint_states_logs';
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files = dir(fullfile(folder_path, '*.csv'));
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folder_path_trajectroy = './samples/sample13/joint_trajectories';
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files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
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l = 0;
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u = 60;
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for k = 1:length(files)
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figure(k)
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grid on
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file_name = files(k).name;
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file_path = fullfile(folder_path, file_name);
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% Example: Read the file
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state = readtable(file_path);
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if k == 1
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offset = state.timestamp(1);
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end
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for i = 1:length(state.timestamp)
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state.timestamp(i)=state.timestamp(i)-offset;
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end
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hold on
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plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.position(state.timestamp >=l & state.timestamp <=u), 'Color',[1 0 0], 'DisplayName', 'Position','LineWidth',4);
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%plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.velocity(state.timestamp >=l & state.timestamp <=u), 'Color',[0 1 0], 'DisplayName','Velocity')
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%plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.effort(state.timestamp >=l & state.timestamp <=u), 'Color',[0 0 1], 'DisplayName','Effort')
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title(replace(file_name(1:end-4),'_',' '), 'FontSize',16)
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xlabel('Time [s]', 'FontSize',30)
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ylabel('Joint Angle [rad]', 'FontSize',30)
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legend('FontSize',30)
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legend show
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for s = 1:length(files_trajectroy)
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file_name_trajectroy = files_trajectroy(s).name;
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file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
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% Example: Read the file
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T = readtable(file_path_trajectroy);
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for i=1:length(T.timestamp)
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T.timestamp(i)=T.timestamp(i)-offset;
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end
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if s == 1
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plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2);
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else
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plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'HandleVisibility','off', 'LineWidth',2);
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end
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end
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plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2);
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end
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14
osc_recieve.py
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14
osc_recieve.py
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from osc4py3.as_eventloop import *
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from osc4py3 import oscmethod as osm
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import time
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def handler(*args):
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print(args)
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osc_startup()
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osc_udp_server("0.0.0.0", 8000, "osc_server")
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osc_method("/coordinates", handler, argscheme=osm.OSCARG_DATAUNPACK)
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while True:
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osc_process()
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time.sleep(0.01)
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38
painting_robot.urdf
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38
painting_robot.urdf
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<?xml version="1.0"?>
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<robot name="painting_robot">
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<!-- Base Link -->
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<link name="base_link"/>
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<!-- Link 1 -->
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<link name="link1"/>
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<joint name="joint1" type="revolute">
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<parent link="base_link"/>
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<child link="link1"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="10.0" velocity="0.5" lower="-1.57" upper="1"/>
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</joint>
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<!-- Link 2 -->
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<link name="link2"/>
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<joint name="joint2" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz="0.4 0 0" rpy="0 0 0"/> <!-- 400.00mm from base -->
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<axis xyz="0 0 1"/>
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<limit effort="10.0" velocity="0.5" lower="0.02" upper="2.8"/>
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</joint>
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<!-- Tool endpoint -->
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<link name="tool0"/>
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<joint name="tool0_fixed_joint" type="fixed">
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<parent link="link2"/>
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<child link="tool0"/>
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<origin xyz="0.25025 0 0" rpy="0 0 0"/> <!-- TCP 250.25mm from joint2 -->
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</joint>
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</robot>
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1
ros2_ws/build/py_pubsub/colcon_build.rc
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1
ros2_ws/build/py_pubsub/colcon_build.rc
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1
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# generated from colcon_core/shell/template/command_prefix.sh.em
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. "/BA/ros2_ws/install/tutorial_interfaces/share/tutorial_interfaces/package.sh"
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9
ros2_ws/log/build_2025-03-27_14-22-13/events.log
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9
ros2_ws/log/build_2025-03-27_14-22-13/events.log
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[0.000000] (-) TimerEvent: {}
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[0.002185] (-) JobUnselected: {'identifier': 'more_interfaces'}
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[0.002460] (-) JobUnselected: {'identifier': 'py_srvcli'}
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[0.002627] (-) JobUnselected: {'identifier': 'python_parameters'}
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[0.002684] (-) JobUnselected: {'identifier': 'tutorial_interfaces'}
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[0.003313] (py_pubsub) JobQueued: {'identifier': 'py_pubsub', 'dependencies': OrderedDict([('tutorial_interfaces', '/BA/ros2_ws/install/tutorial_interfaces')])}
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[0.003435] (py_pubsub) JobStarted: {'identifier': 'py_pubsub'}
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[0.032318] (py_pubsub) JobEnded: {'identifier': 'py_pubsub', 'rc': 1}
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[0.044342] (-) EventReactorShutdown: {}
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192
ros2_ws/log/build_2025-03-27_14-22-13/logger_all.log
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192
ros2_ws/log/build_2025-03-27_14-22-13/logger_all.log
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[0.088s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'py_pubsub']
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[0.088s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=['py_pubsub'], packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7ffffe1f40a0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ffffe2f8fa0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ffffe2f8fa0>>, mixin_verb=('build',))
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[0.168s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
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[0.169s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta'
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[0.169s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta'
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[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
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[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
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[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
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[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
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[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
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[0.169s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/BA/ros2_ws'
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
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[0.170s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
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[0.181s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
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[0.181s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
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[0.181s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
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[0.181s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
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[0.181s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
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[0.182s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
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[0.182s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
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[0.183s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
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[0.184s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
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[0.184s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
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[0.185s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
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[0.185s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
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[0.185s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
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[0.185s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
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[0.186s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
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[0.187s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
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||||||
|
[0.189s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.189s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'ignore'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'ignore_ament_install'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['colcon_pkg']
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'colcon_pkg'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['colcon_meta']
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'colcon_meta'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['ros']
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'ros'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['cmake', 'python']
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'cmake'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'python'
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['python_setup_py']
|
||||||
|
[0.190s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'python_setup_py'
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'ignore'
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'ignore_ament_install'
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extensions ['colcon_pkg']
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'colcon_pkg'
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extensions ['colcon_meta']
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'colcon_meta'
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extensions ['ros']
|
||||||
|
[0.191s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'ros'
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extensions ['cmake', 'python']
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'cmake'
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'python'
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extensions ['python_setup_py']
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'python_setup_py'
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.192s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extension 'ignore'
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extension 'ignore_ament_install'
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extensions ['colcon_pkg']
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extension 'colcon_pkg'
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extensions ['colcon_meta']
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extension 'colcon_meta'
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extensions ['ros']
|
||||||
|
[0.193s] Level 1:colcon.colcon_core.package_identification:_identify(src/more_interfaces) by extension 'ros'
|
||||||
|
[0.198s] DEBUG:colcon.colcon_core.package_identification:Package 'src/more_interfaces' with type 'ros.ament_cmake' and name 'more_interfaces'
|
||||||
|
[0.199s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.199s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extension 'ignore'
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extension 'ignore_ament_install'
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extensions ['colcon_pkg']
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extension 'colcon_pkg'
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extensions ['colcon_meta']
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extension 'colcon_meta'
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extensions ['ros']
|
||||||
|
[0.200s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extension 'ros'
|
||||||
|
[0.201s] DEBUG:colcon.colcon_core.package_identification:Package 'src/py_pubsub' with type 'ros.ament_python' and name 'py_pubsub'
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extension 'ignore'
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extension 'ignore_ament_install'
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extensions ['colcon_pkg']
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extension 'colcon_pkg'
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extensions ['colcon_meta']
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extension 'colcon_meta'
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extensions ['ros']
|
||||||
|
[0.202s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extension 'ros'
|
||||||
|
[0.203s] DEBUG:colcon.colcon_core.package_identification:Package 'src/py_srvcli' with type 'ros.ament_python' and name 'py_srvcli'
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extension 'ignore'
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extension 'ignore_ament_install'
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extensions ['colcon_pkg']
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extension 'colcon_pkg'
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extensions ['colcon_meta']
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extension 'colcon_meta'
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extensions ['ros']
|
||||||
|
[0.204s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extension 'ros'
|
||||||
|
[0.205s] DEBUG:colcon.colcon_core.package_identification:Package 'src/python_parameters' with type 'ros.ament_python' and name 'python_parameters'
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['ignore', 'ignore_ament_install']
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'ignore'
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'ignore_ament_install'
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['colcon_pkg']
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'colcon_pkg'
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['colcon_meta']
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'colcon_meta'
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['ros']
|
||||||
|
[0.206s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'ros'
|
||||||
|
[0.207s] DEBUG:colcon.colcon_core.package_identification:Package 'src/tutorial_interfaces' with type 'ros.ament_cmake' and name 'tutorial_interfaces'
|
||||||
|
[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
|
||||||
|
[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
|
||||||
|
[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
|
||||||
|
[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
|
||||||
|
[0.207s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
|
||||||
|
[0.226s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'more_interfaces' in 'src/more_interfaces'
|
||||||
|
[0.226s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'python_parameters' in 'src/python_parameters'
|
||||||
|
[0.226s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'tutorial_interfaces' in 'src/tutorial_interfaces'
|
||||||
|
[0.226s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'py_srvcli' in 'src/py_srvcli'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'cmake_args' from command line to 'None'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'cmake_target' from command line to 'None'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'cmake_target_skip_unavailable' from command line to 'False'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'cmake_clean_cache' from command line to 'False'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'cmake_clean_first' from command line to 'False'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'cmake_force_configure' from command line to 'False'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'ament_cmake_args' from command line to 'None'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'catkin_cmake_args' from command line to 'None'
|
||||||
|
[0.226s] Level 5:colcon.colcon_core.verb:set package 'py_pubsub' build argument 'catkin_skip_building_tests' from command line to 'False'
|
||||||
|
[0.226s] DEBUG:colcon.colcon_core.verb:Building package 'py_pubsub' with the following arguments: {'ament_cmake_args': None, 'build_base': '/BA/ros2_ws/build/py_pubsub', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/BA/ros2_ws/install/py_pubsub', 'merge_install': False, 'path': '/BA/ros2_ws/src/py_pubsub', 'symlink_install': False, 'test_result_base': None}
|
||||||
|
[0.227s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
|
||||||
|
[0.229s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
|
||||||
|
[0.230s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/BA/ros2_ws/src/py_pubsub' with build type 'ament_python'
|
||||||
|
[0.231s] Level 1:colcon.colcon_core.shell:create_environment_hook('py_pubsub', 'ament_prefix_path')
|
||||||
|
[0.232s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
|
||||||
|
[0.233s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/ros2_ws/install/py_pubsub/share/py_pubsub/hook/ament_prefix_path.ps1'
|
||||||
|
[0.236s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/ros2_ws/install/py_pubsub/share/py_pubsub/hook/ament_prefix_path.dsv'
|
||||||
|
[0.237s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/ros2_ws/install/py_pubsub/share/py_pubsub/hook/ament_prefix_path.sh'
|
||||||
|
[0.239s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
|
||||||
|
[0.239s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
|
||||||
|
[0.262s] ERROR:colcon.colcon_core.shell:Exception in shell extension 'sh': Expected ['.', '/BA/ros2_ws/build/py_pubsub/colcon_command_prefix_setup_py.sh', '&&', 'env'] to pass: The build time path "/ros2_ws/install/tutorial_interfaces" doesn't exist. Either source a script for a different shell or set the environment variable "COLCON_CURRENT_PREFIX" explicitly.
|
||||||
|
|
||||||
|
Traceback (most recent call last):
|
||||||
|
File "/usr/lib/python3/dist-packages/colcon_core/shell/__init__.py", line 308, in get_command_environment
|
||||||
|
return await extension.generate_command_environment(
|
||||||
|
File "/usr/lib/python3/dist-packages/colcon_core/shell/sh.py", line 154, in generate_command_environment
|
||||||
|
env = await get_environment_variables(cmd, cwd=str(build_base))
|
||||||
|
File "/usr/lib/python3/dist-packages/colcon_core/shell/__init__.py", line 344, in get_environment_variables
|
||||||
|
output = await check_output(cmd, cwd=cwd, shell=shell)
|
||||||
|
File "/usr/lib/python3/dist-packages/colcon_core/subprocess.py", line 129, in check_output
|
||||||
|
assert not rc, f'Expected {args} to pass: {stderr_data}'
|
||||||
|
AssertionError: Expected ['.', '/BA/ros2_ws/build/py_pubsub/colcon_command_prefix_setup_py.sh', '&&', 'env'] to pass: The build time path "/ros2_ws/install/tutorial_interfaces" doesn't exist. Either source a script for a different shell or set the environment variable "COLCON_CURRENT_PREFIX" explicitly.
|
||||||
|
|
||||||
|
|
||||||
|
[0.263s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'bash' for command environment
|
||||||
|
[0.263s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'zsh' for command environment
|
||||||
|
[0.263s] ERROR:colcon.colcon_ros.task.ament_python.build:Could not find a shell extension for the command environment
|
||||||
|
[0.274s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
|
||||||
|
[0.275s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
|
||||||
|
[0.275s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1'
|
||||||
|
[0.275s] DEBUG:colcon.colcon_core.event_reactor:joining thread
|
||||||
|
[0.281s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
|
||||||
|
[0.281s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
|
||||||
|
[0.281s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
|
||||||
|
[0.281s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
|
||||||
|
[0.283s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.NotSupported: Unable to autolaunch a dbus-daemon without a $DISPLAY for X11
|
||||||
|
[0.283s] DEBUG:colcon.colcon_core.event_reactor:joined thread
|
||||||
|
[0.283s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/ros2_ws/install/local_setup.ps1'
|
||||||
|
[0.285s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/ros2_ws/install/_local_setup_util_ps1.py'
|
||||||
|
[0.287s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/ros2_ws/install/setup.ps1'
|
||||||
|
[0.288s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/ros2_ws/install/local_setup.sh'
|
||||||
|
[0.289s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/ros2_ws/install/_local_setup_util_sh.py'
|
||||||
|
[0.290s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/ros2_ws/install/setup.sh'
|
||||||
|
[0.291s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/ros2_ws/install/local_setup.bash'
|
||||||
|
[0.292s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/ros2_ws/install/setup.bash'
|
||||||
|
[0.293s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/ros2_ws/install/local_setup.zsh'
|
||||||
|
[0.294s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/ros2_ws/install/setup.zsh'
|
||||||
29
test/collision.py
Normal file
29
test/collision.py
Normal file
@ -0,0 +1,29 @@
|
|||||||
|
import pybullet as p
|
||||||
|
|
||||||
|
# Start PyBullet simulation
|
||||||
|
physicsClient = p.connect(p.DIRECT) # or p.GUI for graphical interface
|
||||||
|
|
||||||
|
# Load your robot URDF
|
||||||
|
robot_id = p.loadURDF("/ur10e.urdf", useFixedBase=True)
|
||||||
|
|
||||||
|
# Set joint angles
|
||||||
|
joint_angles = [0, 0, 3.141/2, 0, 0, 0]
|
||||||
|
for i, angle in enumerate(joint_angles):
|
||||||
|
p.setJointMotorControl2(robot_id, i, p.POSITION_CONTROL, targetPosition=angle)
|
||||||
|
|
||||||
|
# Step the simulation to update the robot's state
|
||||||
|
p.stepSimulation()
|
||||||
|
|
||||||
|
# Check if any link is colliding
|
||||||
|
collision = False
|
||||||
|
for i in range(p.getNumBodies()):
|
||||||
|
contact_points = p.getContactPoints(robot_id)
|
||||||
|
print(contact_points)
|
||||||
|
if len(contact_points) > 0:
|
||||||
|
collision = True
|
||||||
|
break
|
||||||
|
|
||||||
|
if collision:
|
||||||
|
print("The robot has collided with itself.")
|
||||||
|
else:
|
||||||
|
print("No collision detected.")
|
||||||
78
test/joint_states_recording.py
Normal file
78
test/joint_states_recording.py
Normal file
@ -0,0 +1,78 @@
|
|||||||
|
import rclpy
|
||||||
|
from rclpy.node import Node
|
||||||
|
from sensor_msgs.msg import JointState
|
||||||
|
import csv
|
||||||
|
import os
|
||||||
|
import roboticstoolbox as rtb
|
||||||
|
|
||||||
|
class JointStateLogger(Node):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__('joint_state_logger_split')
|
||||||
|
|
||||||
|
# Subscribe to /joint_states topic
|
||||||
|
self.subscription = self.create_subscription(
|
||||||
|
JointState,
|
||||||
|
'/joint_states',
|
||||||
|
self.joint_states_callback,
|
||||||
|
1000
|
||||||
|
)
|
||||||
|
self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
|
||||||
|
# Directory to store logs
|
||||||
|
self.log_dir = '/BA/joint_states_logs'
|
||||||
|
os.makedirs(self.log_dir, exist_ok=True)
|
||||||
|
|
||||||
|
self.log_dir_cart = '/BA/joint_states_cart_logs'
|
||||||
|
os.makedirs(self.log_dir_cart, exist_ok=True)
|
||||||
|
|
||||||
|
def joint_states_callback(self, msg: JointState):
|
||||||
|
# Use ROS time as timestamp
|
||||||
|
stamp = msg.header.stamp
|
||||||
|
timestamp = f"{stamp.sec}.{str(stamp.nanosec).zfill(9)}"
|
||||||
|
|
||||||
|
for i, name in enumerate(msg.name):
|
||||||
|
# File per joint
|
||||||
|
file_path = os.path.join(self.log_dir, f"{name}.csv")
|
||||||
|
|
||||||
|
# If file doesn't exist, create with header
|
||||||
|
if not os.path.exists(file_path):
|
||||||
|
with open(file_path, mode='w', newline='') as f:
|
||||||
|
writer = csv.writer(f)
|
||||||
|
writer.writerow(["timestamp", "position", "velocity", "effort"])
|
||||||
|
|
||||||
|
# Get values if they exist
|
||||||
|
position = msg.position[i] if i < len(msg.position) else ''
|
||||||
|
velocity = msg.velocity[i] if i < len(msg.velocity) else ''
|
||||||
|
effort = msg.effort[i] if i < len(msg.effort) else ''
|
||||||
|
|
||||||
|
# Append to joint-specific CSV
|
||||||
|
with open(file_path, mode='a', newline='') as f:
|
||||||
|
writer = csv.writer(f)
|
||||||
|
writer.writerow([timestamp, position, velocity, effort])
|
||||||
|
|
||||||
|
file_path_cart = os.path.join(self.log_dir_cart, "cartesian.csv")
|
||||||
|
if not os.path.exists(file_path_cart):
|
||||||
|
with open(file_path_cart, mode='w', newline='') as f:
|
||||||
|
writer = csv.writer(f)
|
||||||
|
writer.writerow(["timestamp", "x", "y", "z", "roll", "pitch", "yaw"])
|
||||||
|
with open(file_path_cart, mode='a', newline='') as f:
|
||||||
|
writer = csv.writer(f)
|
||||||
|
[x,y,z] = self.robot.fkine(list([msg.position[-1]])+list(msg.position[:4])).t
|
||||||
|
[roll, pitch, yaw] = self.robot.fkine(list([msg.position[-1]])+list(msg.position[:4])).rpy()
|
||||||
|
writer.writerow([timestamp, x, y, z, roll, pitch, yaw])
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
rclpy.init()
|
||||||
|
node = JointStateLogger()
|
||||||
|
try:
|
||||||
|
rclpy.spin(node)
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print("")
|
||||||
|
finally:
|
||||||
|
node.destroy_node()
|
||||||
|
rclpy.shutdown()
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
81
test/joint_trajectory_recording.py
Normal file
81
test/joint_trajectory_recording.py
Normal file
@ -0,0 +1,81 @@
|
|||||||
|
import rclpy
|
||||||
|
from rclpy.node import Node
|
||||||
|
from trajectory_msgs.msg import JointTrajectory
|
||||||
|
import csv
|
||||||
|
import os
|
||||||
|
import roboticstoolbox as rtb
|
||||||
|
|
||||||
|
class JointTrajectoryLogger(Node):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__('joint_trajectory_logger_minimal')
|
||||||
|
|
||||||
|
# Folder to store CSV files
|
||||||
|
self.log_dir = '/BA/joint_trajectories'
|
||||||
|
os.makedirs(self.log_dir, exist_ok=True)
|
||||||
|
|
||||||
|
self.log_dir_cart = '/BA/joint_trajectories_cart'
|
||||||
|
os.makedirs(self.log_dir_cart, exist_ok=True)
|
||||||
|
|
||||||
|
# Subscriber to JointTrajectory messages
|
||||||
|
self.subscription = self.create_subscription(
|
||||||
|
JointTrajectory,
|
||||||
|
'/scaled_joint_trajectory_controller/joint_trajectory',
|
||||||
|
self.trajectory_callback,
|
||||||
|
10
|
||||||
|
)
|
||||||
|
|
||||||
|
self.counter = 0
|
||||||
|
self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
|
||||||
|
|
||||||
|
def trajectory_callback(self, msg: JointTrajectory):
|
||||||
|
self.counter += 1
|
||||||
|
|
||||||
|
# Create a unique filename
|
||||||
|
filename = f"trajectory_{self.counter:04d}.csv"
|
||||||
|
file_path = os.path.join(self.log_dir, filename)
|
||||||
|
# Header: timestamp + joint names
|
||||||
|
header = ['timestamp'] + msg.joint_names
|
||||||
|
recive_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9
|
||||||
|
with open(file_path, mode='w', newline='') as file:
|
||||||
|
writer = csv.writer(file)
|
||||||
|
writer.writerow(header)
|
||||||
|
|
||||||
|
for point in msg.points:
|
||||||
|
timestamp = recive_time + point.time_from_start.sec + point.time_from_start.nanosec * 1e-9
|
||||||
|
row = [timestamp] + list(point.positions)
|
||||||
|
writer.writerow(row)
|
||||||
|
|
||||||
|
filename_cart = f"trajectory_{self.counter:04d}_cart.csv"
|
||||||
|
file_path_cart = os.path.join(self.log_dir_cart, filename_cart)
|
||||||
|
header = ['timestamp', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
|
||||||
|
# Convert joint angles to cartesian coordinates
|
||||||
|
joint_angles = point.positions
|
||||||
|
|
||||||
|
# Write to CSV
|
||||||
|
with open(file_path_cart, mode='w', newline='') as file:
|
||||||
|
writer = csv.writer(file)
|
||||||
|
writer.writerow(header)
|
||||||
|
|
||||||
|
for point in msg.points:
|
||||||
|
timestamp = recive_time + point.time_from_start.sec + point.time_from_start.nanosec * 1e-9
|
||||||
|
T = self.robot.fkine(point.positions)
|
||||||
|
x = T.t[0]
|
||||||
|
y = T.t[1]
|
||||||
|
z = T.t[2]
|
||||||
|
roll, pitch, yaw = T.rpy()
|
||||||
|
row = [timestamp, x, y, z, roll, pitch, yaw]
|
||||||
|
writer.writerow(row)
|
||||||
|
|
||||||
|
def main():
|
||||||
|
rclpy.init()
|
||||||
|
node = JointTrajectoryLogger()
|
||||||
|
try:
|
||||||
|
rclpy.spin(node)
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print("")
|
||||||
|
finally:
|
||||||
|
node.destroy_node()
|
||||||
|
rclpy.shutdown()
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
46
test/load_robot.py
Normal file
46
test/load_robot.py
Normal file
@ -0,0 +1,46 @@
|
|||||||
|
import xml.etree.ElementTree as ET
|
||||||
|
import roboticstoolbox as rtb
|
||||||
|
|
||||||
|
def main():
|
||||||
|
"""Main function to get joint names and start the ROS 2 & OSC system."""
|
||||||
|
robot_urdf = input("Enter the path to the URDF file: ")
|
||||||
|
tree = ET.parse(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(robot_urdf)
|
||||||
|
joint_velocity_limits = {}
|
||||||
|
|
||||||
|
# Iterate over all joints in the URDF
|
||||||
|
for joint in root.findall('.//joint'):
|
||||||
|
joint_name = joint.get('name') # Get the name of the joint
|
||||||
|
|
||||||
|
# Look for the <limit> tag under each joint
|
||||||
|
limit = joint.find('limit')
|
||||||
|
|
||||||
|
if limit is not None:
|
||||||
|
# Extract the velocity limit (if it exists)
|
||||||
|
velocity_limit = limit.get('velocity')
|
||||||
|
|
||||||
|
if velocity_limit is not None:
|
||||||
|
joint_velocity_limits[joint_name] = float(velocity_limit)
|
||||||
|
|
||||||
|
while True:
|
||||||
|
try:
|
||||||
|
print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].")
|
||||||
|
print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.")
|
||||||
|
cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
|
||||||
|
if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
|
||||||
|
break
|
||||||
|
else:
|
||||||
|
print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
|
||||||
|
except ValueError:
|
||||||
|
print("Invalid input. Please enter integers only.")
|
||||||
|
print(f"Cost mask: {cost_mask}")
|
||||||
|
|
||||||
|
print(f'robot: {robot}')
|
||||||
|
print(f'joint names: {joint_names}')
|
||||||
|
print(f'joint velocity limits: {joint_velocity_limits}')
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
61
test/log_recording.py
Normal file
61
test/log_recording.py
Normal file
@ -0,0 +1,61 @@
|
|||||||
|
import rclpy
|
||||||
|
from rclpy.node import Node
|
||||||
|
from rcl_interfaces.msg import Log
|
||||||
|
import csv
|
||||||
|
import os
|
||||||
|
|
||||||
|
class RosoutLogger(Node):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__('rosout_logger_csv')
|
||||||
|
|
||||||
|
# Log file path
|
||||||
|
self.log_dir = '/BA/rosout_logs'
|
||||||
|
os.makedirs(self.log_dir, exist_ok=True)
|
||||||
|
self.csv_file_path = os.path.join(self.log_dir, 'rosout_log.csv')
|
||||||
|
|
||||||
|
# Initialize CSV with header if it doesn't exist
|
||||||
|
if not os.path.exists(self.csv_file_path):
|
||||||
|
with open(self.csv_file_path, mode='w', newline='') as f:
|
||||||
|
writer = csv.writer(f)
|
||||||
|
writer.writerow(['timestamp', 'level', 'logger_name', 'message'])
|
||||||
|
|
||||||
|
# Subscribe to /rosout
|
||||||
|
self.subscription = self.create_subscription(
|
||||||
|
Log,
|
||||||
|
'/rosout',
|
||||||
|
self.rosout_callback,
|
||||||
|
10
|
||||||
|
)
|
||||||
|
|
||||||
|
def rosout_callback(self, msg: Log):
|
||||||
|
# Format timestamp
|
||||||
|
timestamp = f"{msg.stamp.sec}.{str(msg.stamp.nanosec).zfill(9)}"
|
||||||
|
|
||||||
|
# Convert level integer to text
|
||||||
|
level_dict = {
|
||||||
|
Log.DEBUG: 'DEBUG',
|
||||||
|
Log.INFO: 'INFO',
|
||||||
|
Log.WARN: 'WARN',
|
||||||
|
Log.ERROR: 'ERROR',
|
||||||
|
Log.FATAL: 'FATAL'
|
||||||
|
}
|
||||||
|
level_text = level_dict.get(msg.level, f"LEVEL_{msg.level}")
|
||||||
|
|
||||||
|
# Write row to CSV
|
||||||
|
with open(self.csv_file_path, mode='a', newline='') as f:
|
||||||
|
writer = csv.writer(f)
|
||||||
|
writer.writerow([timestamp, level_text, msg.name, msg.msg])
|
||||||
|
|
||||||
|
def main():
|
||||||
|
rclpy.init()
|
||||||
|
node = RosoutLogger()
|
||||||
|
try:
|
||||||
|
rclpy.spin(node)
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
node.get_logger().info("Interrupted by user.")
|
||||||
|
finally:
|
||||||
|
node.destroy_node()
|
||||||
|
rclpy.shutdown()
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
0
test/rampfunction.py
Normal file
0
test/rampfunction.py
Normal file
28
test/timetag_test_pub.py
Normal file
28
test/timetag_test_pub.py
Normal file
@ -0,0 +1,28 @@
|
|||||||
|
# Import needed modules from osc4py3
|
||||||
|
from osc4py3.as_eventloop import *
|
||||||
|
from osc4py3 import oscbuildparse
|
||||||
|
import time
|
||||||
|
|
||||||
|
# Start the system.
|
||||||
|
osc_startup()
|
||||||
|
|
||||||
|
# Make client channels to send packets.
|
||||||
|
osc_udp_client("172.18.0.3", 8000, "aclientname")
|
||||||
|
|
||||||
|
# Buils a complete bundle, and postpone its executions by 10 sec.
|
||||||
|
exectime = time.time() + 10 # execute in 10 seconds
|
||||||
|
stamp = oscbuildparse.unixtime2timetag(exectime)
|
||||||
|
|
||||||
|
# Build a simple message and send it.
|
||||||
|
msg = oscbuildparse.OSCMessage("/test/me", ",sift", ["text", 672, 8.871, stamp])
|
||||||
|
osc_send(msg, "aclientname")
|
||||||
|
|
||||||
|
# Build a message with autodetection of data types, and send it.
|
||||||
|
msg = oscbuildparse.OSCMessage("/test/me", None, ["text", 672, 8.871])
|
||||||
|
osc_send(msg, "aclientname")
|
||||||
|
# …
|
||||||
|
osc_process()
|
||||||
|
# …
|
||||||
|
|
||||||
|
# Properly close the system.
|
||||||
|
osc_terminate()
|
||||||
19
test/timetag_test_sub.py
Normal file
19
test/timetag_test_sub.py
Normal file
@ -0,0 +1,19 @@
|
|||||||
|
# Import needed modules from osc4py3
|
||||||
|
from osc4py3.as_allthreads import *
|
||||||
|
from osc4py3 import oscmethod as osm
|
||||||
|
from osc4py3 import oscbuildparse
|
||||||
|
|
||||||
|
def handlerfunction(*args):
|
||||||
|
# Will receive message data unpacked in s, x, y
|
||||||
|
print(args[-1].sec)
|
||||||
|
print(oscbuildparse.timetag2unixtime(args[-1]))
|
||||||
|
# Start the system.
|
||||||
|
osc_startup()
|
||||||
|
|
||||||
|
# Make server channels to receive packets.
|
||||||
|
osc_udp_server("0.0.0.0", 8000, "anotherserver")
|
||||||
|
|
||||||
|
# Associate Python functions with message address patterns, using default
|
||||||
|
# argument scheme OSCARG_DATAUNPACK.
|
||||||
|
osc_method("/test/me", handlerfunction, argscheme=osm.OSCARG_TYPETAGS + osm.OSCARG_DATAUNPACK)
|
||||||
|
|
||||||
542
ur10e.urdf
Normal file
542
ur10e.urdf
Normal file
@ -0,0 +1,542 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from /opt/ros/humble/share/ur_description/urdf/ur.urdf.xacro | -->
|
||||||
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<robot name="ur10e">
|
||||||
|
<!--
|
||||||
|
Base UR robot series xacro macro.
|
||||||
|
|
||||||
|
NOTE this is NOT a URDF. It cannot directly be loaded by consumers
|
||||||
|
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||||
|
(but note that .xacro must still be processed by the xacro command).
|
||||||
|
|
||||||
|
This file models the base kinematic chain of a UR robot, which then gets
|
||||||
|
parameterised by various configuration files to convert it into a UR3(e),
|
||||||
|
UR5(e), UR10(e) or UR16e.
|
||||||
|
|
||||||
|
NOTE the default kinematic parameters (i.e., link lengths, frame locations,
|
||||||
|
offsets, etc) do not correspond to any particular robot. They are defaults
|
||||||
|
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||||
|
in TF (i.e., robot_state_publisher) and the values reported by the Teach
|
||||||
|
Pendant.
|
||||||
|
|
||||||
|
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||||
|
parameter MUST point to a .yaml file containing the appropriate values for
|
||||||
|
the targeted robot.
|
||||||
|
|
||||||
|
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||||
|
described in the readme of that repository to extract the kinematic
|
||||||
|
calibration from the controller and generate the required .yaml file.
|
||||||
|
|
||||||
|
Main author of the migration to yaml configs Ludovic Delval.
|
||||||
|
|
||||||
|
Contributors to previous versions (in no particular order)
|
||||||
|
|
||||||
|
- Denis Stogl
|
||||||
|
- Lovro Ivanov
|
||||||
|
- Felix Messmer
|
||||||
|
- Kelsey Hawkins
|
||||||
|
- Wim Meeussen
|
||||||
|
- Shaun Edwards
|
||||||
|
- Nadia Hammoudeh Garcia
|
||||||
|
- Dave Hershberger
|
||||||
|
- G. vd. Hoorn
|
||||||
|
- Philip Long
|
||||||
|
- Dave Coleman
|
||||||
|
- Miguel Prada
|
||||||
|
- Mathias Luedtke
|
||||||
|
- Marcel Schnirring
|
||||||
|
- Felix von Drigalski
|
||||||
|
- Felix Exner
|
||||||
|
- Jimmy Da Silva
|
||||||
|
- Ajit Krisshna N L
|
||||||
|
- Muhammad Asif Rana
|
||||||
|
-->
|
||||||
|
<!--
|
||||||
|
NOTE the macro defined in this file is NOT part of the public API of this
|
||||||
|
package. Users CANNOT rely on this file being available, or stored in
|
||||||
|
this location. Nor can they rely on the existence of the macro.
|
||||||
|
-->
|
||||||
|
<!-- create link fixed to the "world" -->
|
||||||
|
<link name="world"/>
|
||||||
|
<ros2_control name="ur10e" type="system">
|
||||||
|
<hardware>
|
||||||
|
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
|
||||||
|
<param name="robot_ip">172.18.0.2</param>
|
||||||
|
<param name="script_filename">/opt/ros/humble/share/ur_client_library/resources/external_control.urscript</param>
|
||||||
|
<param name="output_recipe_filename">/opt/ros/humble/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
|
||||||
|
<param name="input_recipe_filename">/opt/ros/humble/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
|
||||||
|
<param name="headless_mode">False</param>
|
||||||
|
<param name="reverse_port">50001</param>
|
||||||
|
<param name="script_sender_port">50002</param>
|
||||||
|
<param name="reverse_ip">0.0.0.0</param>
|
||||||
|
<param name="script_command_port">50004</param>
|
||||||
|
<param name="trajectory_port">50003</param>
|
||||||
|
<param name="tf_prefix"></param>
|
||||||
|
<param name="non_blocking_read">True</param>
|
||||||
|
<param name="servoj_gain">2000</param>
|
||||||
|
<param name="servoj_lookahead_time">0.03</param>
|
||||||
|
<param name="use_tool_communication">False</param>
|
||||||
|
<param name="kinematics/hash">calib_5119701370761913513</param>
|
||||||
|
<param name="tool_voltage">0</param>
|
||||||
|
<param name="tool_parity">0</param>
|
||||||
|
<param name="tool_baud_rate">115200</param>
|
||||||
|
<param name="tool_stop_bits">1</param>
|
||||||
|
<param name="tool_rx_idle_chars">1.5</param>
|
||||||
|
<param name="tool_tx_idle_chars">3.5</param>
|
||||||
|
<param name="tool_device_name">/tmp/ttyUR</param>
|
||||||
|
<param name="tool_tcp_port">54321</param>
|
||||||
|
<param name="keep_alive_count">2</param>
|
||||||
|
</hardware>
|
||||||
|
<joint name="shoulder_pan_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="shoulder_lift_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">-1.57</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="elbow_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_1_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">-1.57</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_2_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_3_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<sensor name="tcp_fts_sensor">
|
||||||
|
<state_interface name="force.x"/>
|
||||||
|
<state_interface name="force.y"/>
|
||||||
|
<state_interface name="force.z"/>
|
||||||
|
<state_interface name="torque.x"/>
|
||||||
|
<state_interface name="torque.y"/>
|
||||||
|
<state_interface name="torque.z"/>
|
||||||
|
</sensor>
|
||||||
|
<sensor name="tcp_pose">
|
||||||
|
<state_interface name="position.x"/>
|
||||||
|
<state_interface name="position.y"/>
|
||||||
|
<state_interface name="position.z"/>
|
||||||
|
<state_interface name="orientation.x"/>
|
||||||
|
<state_interface name="orientation.y"/>
|
||||||
|
<state_interface name="orientation.z"/>
|
||||||
|
<state_interface name="orientation.w"/>
|
||||||
|
</sensor>
|
||||||
|
<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
|
||||||
|
<gpio name="speed_scaling">
|
||||||
|
<state_interface name="speed_scaling_factor"/>
|
||||||
|
<param name="initial_speed_scaling_factor">1</param>
|
||||||
|
<command_interface name="target_speed_fraction_cmd"/>
|
||||||
|
<command_interface name="target_speed_fraction_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="gpio">
|
||||||
|
<command_interface name="standard_digital_output_cmd_0"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_1"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_2"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_3"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_4"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_5"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_6"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_7"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_8"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_9"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_10"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_11"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_12"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_13"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_14"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_15"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_16"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_17"/>
|
||||||
|
<command_interface name="standard_analog_output_cmd_0"/>
|
||||||
|
<command_interface name="standard_analog_output_cmd_1"/>
|
||||||
|
<command_interface name="analog_output_domain_cmd"/>
|
||||||
|
<command_interface name="tool_voltage_cmd"/>
|
||||||
|
<command_interface name="io_async_success"/>
|
||||||
|
<state_interface name="digital_output_0"/>
|
||||||
|
<state_interface name="digital_output_1"/>
|
||||||
|
<state_interface name="digital_output_2"/>
|
||||||
|
<state_interface name="digital_output_3"/>
|
||||||
|
<state_interface name="digital_output_4"/>
|
||||||
|
<state_interface name="digital_output_5"/>
|
||||||
|
<state_interface name="digital_output_6"/>
|
||||||
|
<state_interface name="digital_output_7"/>
|
||||||
|
<state_interface name="digital_output_8"/>
|
||||||
|
<state_interface name="digital_output_9"/>
|
||||||
|
<state_interface name="digital_output_10"/>
|
||||||
|
<state_interface name="digital_output_11"/>
|
||||||
|
<state_interface name="digital_output_12"/>
|
||||||
|
<state_interface name="digital_output_13"/>
|
||||||
|
<state_interface name="digital_output_14"/>
|
||||||
|
<state_interface name="digital_output_15"/>
|
||||||
|
<state_interface name="digital_output_16"/>
|
||||||
|
<state_interface name="digital_output_17"/>
|
||||||
|
<state_interface name="digital_input_0"/>
|
||||||
|
<state_interface name="digital_input_1"/>
|
||||||
|
<state_interface name="digital_input_2"/>
|
||||||
|
<state_interface name="digital_input_3"/>
|
||||||
|
<state_interface name="digital_input_4"/>
|
||||||
|
<state_interface name="digital_input_5"/>
|
||||||
|
<state_interface name="digital_input_6"/>
|
||||||
|
<state_interface name="digital_input_7"/>
|
||||||
|
<state_interface name="digital_input_8"/>
|
||||||
|
<state_interface name="digital_input_9"/>
|
||||||
|
<state_interface name="digital_input_10"/>
|
||||||
|
<state_interface name="digital_input_11"/>
|
||||||
|
<state_interface name="digital_input_12"/>
|
||||||
|
<state_interface name="digital_input_13"/>
|
||||||
|
<state_interface name="digital_input_14"/>
|
||||||
|
<state_interface name="digital_input_15"/>
|
||||||
|
<state_interface name="digital_input_16"/>
|
||||||
|
<state_interface name="digital_input_17"/>
|
||||||
|
<state_interface name="standard_analog_output_0"/>
|
||||||
|
<state_interface name="standard_analog_output_1"/>
|
||||||
|
<state_interface name="standard_analog_input_0"/>
|
||||||
|
<state_interface name="standard_analog_input_1"/>
|
||||||
|
<state_interface name="analog_io_type_0"/>
|
||||||
|
<state_interface name="analog_io_type_1"/>
|
||||||
|
<state_interface name="analog_io_type_2"/>
|
||||||
|
<state_interface name="analog_io_type_3"/>
|
||||||
|
<state_interface name="tool_mode"/>
|
||||||
|
<state_interface name="tool_output_voltage"/>
|
||||||
|
<state_interface name="tool_output_current"/>
|
||||||
|
<state_interface name="tool_temperature"/>
|
||||||
|
<state_interface name="tool_analog_input_0"/>
|
||||||
|
<state_interface name="tool_analog_input_1"/>
|
||||||
|
<state_interface name="tool_analog_input_type_0"/>
|
||||||
|
<state_interface name="tool_analog_input_type_1"/>
|
||||||
|
<state_interface name="robot_mode"/>
|
||||||
|
<state_interface name="robot_status_bit_0"/>
|
||||||
|
<state_interface name="robot_status_bit_1"/>
|
||||||
|
<state_interface name="robot_status_bit_2"/>
|
||||||
|
<state_interface name="robot_status_bit_3"/>
|
||||||
|
<state_interface name="safety_mode"/>
|
||||||
|
<state_interface name="safety_status_bit_0"/>
|
||||||
|
<state_interface name="safety_status_bit_1"/>
|
||||||
|
<state_interface name="safety_status_bit_2"/>
|
||||||
|
<state_interface name="safety_status_bit_3"/>
|
||||||
|
<state_interface name="safety_status_bit_4"/>
|
||||||
|
<state_interface name="safety_status_bit_5"/>
|
||||||
|
<state_interface name="safety_status_bit_6"/>
|
||||||
|
<state_interface name="safety_status_bit_7"/>
|
||||||
|
<state_interface name="safety_status_bit_8"/>
|
||||||
|
<state_interface name="safety_status_bit_9"/>
|
||||||
|
<state_interface name="safety_status_bit_10"/>
|
||||||
|
<state_interface name="program_running"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="payload">
|
||||||
|
<command_interface name="mass"/>
|
||||||
|
<command_interface name="cog.x"/>
|
||||||
|
<command_interface name="cog.y"/>
|
||||||
|
<command_interface name="cog.z"/>
|
||||||
|
<command_interface name="payload_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="resend_robot_program">
|
||||||
|
<command_interface name="resend_robot_program_cmd"/>
|
||||||
|
<command_interface name="resend_robot_program_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="hand_back_control">
|
||||||
|
<command_interface name="hand_back_control_cmd"/>
|
||||||
|
<command_interface name="hand_back_control_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="zero_ftsensor">
|
||||||
|
<command_interface name="zero_ftsensor_cmd"/>
|
||||||
|
<command_interface name="zero_ftsensor_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="system_interface">
|
||||||
|
<state_interface name="initialized"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="get_robot_software_version">
|
||||||
|
<state_interface name="get_version_major"/>
|
||||||
|
<state_interface name="get_version_minor"/>
|
||||||
|
<state_interface name="get_version_build"/>
|
||||||
|
<state_interface name="get_version_bugfix"/>
|
||||||
|
</gpio>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- Add URDF transmission elements (for ros_control) -->
|
||||||
|
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
|
||||||
|
<!-- Placeholder for ros2_control transmission which don't yet exist -->
|
||||||
|
<!-- links - main serial chain -->
|
||||||
|
<link name="base_link"/>
|
||||||
|
<link name="base_link_inertia">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/base.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/base.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="4.0"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="shoulder_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/shoulder.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/shoulder.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="7.369"/>
|
||||||
|
<origin rpy="1.570796326794897 0 0" xyz="0.021 -0.027 0.0"/>
|
||||||
|
<inertia ixx="0.03408" ixy="2e-05" ixz="-0.00425" iyy="0.03529" iyz="8e-05" izz="0.02156"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="upper_arm_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/upperarm.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.1762"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/upperarm.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="13.051"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.2327 0.0 0.158"/>
|
||||||
|
<inertia ixx="0.02814" ixy="5e-05" ixz="-0.01561" iyy="0.77068" iyz="2e-05" izz="0.76943"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="forearm_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/forearm.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0393"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/forearm.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="3.989"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.33155 0.0 0.068"/>
|
||||||
|
<inertia ixx="0.01014" ixy="8e-05" ixz="0.00916" iyy="0.30928" iyz="0.0" izz="0.30646"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="wrist_1_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/wrist1.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.135"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/wrist1.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="2.1"/>
|
||||||
|
<origin rpy="1.570796326794897 0 0" xyz="0.0 -0.018 0.007"/>
|
||||||
|
<inertia ixx="0.00296" ixy="-1e-05" ixz="0.0" iyy="0.00222" iyz="-0.00024" izz="0.00258"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="wrist_2_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/wrist2.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.12"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/wrist2.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.98"/>
|
||||||
|
<origin rpy="-1.570796326794897 0 0" xyz="0.0 0.018 -0.007"/>
|
||||||
|
<inertia ixx="0.00296" ixy="-1e-05" ixz="0.0" iyy="0.00222" iyz="-0.00024" izz="0.00258"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="wrist_3_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/visual/wrist3.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.1168"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="/opt/ros/humble/share/ur_description/meshes/ur10e/collision/wrist3.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.615"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 -0.026"/>
|
||||||
|
<inertia ixx="0.0004" ixy="0.0" ixz="0.0" iyy="0.00041" iyz="0.0" izz="0.00034"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<!-- base_joint fixes base_link to the environment -->
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="base_link"/>
|
||||||
|
</joint>
|
||||||
|
<!-- joints - main serial chain -->
|
||||||
|
<joint name="base_link-base_link_inertia" type="fixed">
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="base_link_inertia"/>
|
||||||
|
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||||
|
frames of the robot/controller have X+ pointing backwards.
|
||||||
|
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||||
|
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||||
|
-->
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="shoulder_pan_joint" type="revolute">
|
||||||
|
<parent link="base_link_inertia"/>
|
||||||
|
<child link="shoulder_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.1807"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="shoulder_lift_joint" type="revolute">
|
||||||
|
<parent link="shoulder_link"/>
|
||||||
|
<child link="upper_arm_link"/>
|
||||||
|
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="elbow_joint" type="revolute">
|
||||||
|
<parent link="upper_arm_link"/>
|
||||||
|
<child link="forearm_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.6127 0 0"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_1_joint" type="revolute">
|
||||||
|
<parent link="forearm_link"/>
|
||||||
|
<child link="wrist_1_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_2_joint" type="revolute">
|
||||||
|
<parent link="wrist_1_link"/>
|
||||||
|
<child link="wrist_2_link"/>
|
||||||
|
<origin rpy="1.570796327 0 0" xyz="0 -0.11985 -2.458164590756244e-11"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_3_joint" type="revolute">
|
||||||
|
<parent link="wrist_2_link"/>
|
||||||
|
<child link="wrist_3_link"/>
|
||||||
|
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 -2.390480459346185e-11"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="ft_frame"/>
|
||||||
|
<joint name="wrist_3_link-ft_frame" type="fixed">
|
||||||
|
<parent link="wrist_3_link"/>
|
||||||
|
<child link="ft_frame"/>
|
||||||
|
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
|
||||||
|
<link name="base"/>
|
||||||
|
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||||
|
<!-- Note the rotation over Z of pi radians - as base_link is REP-103
|
||||||
|
aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
|
||||||
|
to correctly align 'base' with the 'Base' coordinate system of
|
||||||
|
the UR controller.
|
||||||
|
-->
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="base"/>
|
||||||
|
</joint>
|
||||||
|
<!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
|
||||||
|
<link name="flange"/>
|
||||||
|
<joint name="wrist_3-flange" type="fixed">
|
||||||
|
<parent link="wrist_3_link"/>
|
||||||
|
<child link="flange"/>
|
||||||
|
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
|
||||||
|
<link name="tool0"/>
|
||||||
|
<joint name="flange-tool0" type="fixed">
|
||||||
|
<!-- default toolframe - X+ left, Y+ up, Z+ front -->
|
||||||
|
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||||
|
<parent link="flange"/>
|
||||||
|
<child link="tool0"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
542
ur5.urdf
Normal file
542
ur5.urdf
Normal file
@ -0,0 +1,542 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from /opt/ros/humble/share/ur_description/urdf/ur.urdf.xacro | -->
|
||||||
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<robot name="ur5">
|
||||||
|
<!--
|
||||||
|
Base UR robot series xacro macro.
|
||||||
|
|
||||||
|
NOTE this is NOT a URDF. It cannot directly be loaded by consumers
|
||||||
|
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||||
|
(but note that .xacro must still be processed by the xacro command).
|
||||||
|
|
||||||
|
This file models the base kinematic chain of a UR robot, which then gets
|
||||||
|
parameterised by various configuration files to convert it into a UR3(e),
|
||||||
|
UR5(e), UR10(e) or UR16e.
|
||||||
|
|
||||||
|
NOTE the default kinematic parameters (i.e., link lengths, frame locations,
|
||||||
|
offsets, etc) do not correspond to any particular robot. They are defaults
|
||||||
|
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||||
|
in TF (i.e., robot_state_publisher) and the values reported by the Teach
|
||||||
|
Pendant.
|
||||||
|
|
||||||
|
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||||
|
parameter MUST point to a .yaml file containing the appropriate values for
|
||||||
|
the targeted robot.
|
||||||
|
|
||||||
|
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||||
|
described in the readme of that repository to extract the kinematic
|
||||||
|
calibration from the controller and generate the required .yaml file.
|
||||||
|
|
||||||
|
Main author of the migration to yaml configs Ludovic Delval.
|
||||||
|
|
||||||
|
Contributors to previous versions (in no particular order)
|
||||||
|
|
||||||
|
- Denis Stogl
|
||||||
|
- Lovro Ivanov
|
||||||
|
- Felix Messmer
|
||||||
|
- Kelsey Hawkins
|
||||||
|
- Wim Meeussen
|
||||||
|
- Shaun Edwards
|
||||||
|
- Nadia Hammoudeh Garcia
|
||||||
|
- Dave Hershberger
|
||||||
|
- G. vd. Hoorn
|
||||||
|
- Philip Long
|
||||||
|
- Dave Coleman
|
||||||
|
- Miguel Prada
|
||||||
|
- Mathias Luedtke
|
||||||
|
- Marcel Schnirring
|
||||||
|
- Felix von Drigalski
|
||||||
|
- Felix Exner
|
||||||
|
- Jimmy Da Silva
|
||||||
|
- Ajit Krisshna N L
|
||||||
|
- Muhammad Asif Rana
|
||||||
|
-->
|
||||||
|
<!--
|
||||||
|
NOTE the macro defined in this file is NOT part of the public API of this
|
||||||
|
package. Users CANNOT rely on this file being available, or stored in
|
||||||
|
this location. Nor can they rely on the existence of the macro.
|
||||||
|
-->
|
||||||
|
<!-- create link fixed to the "world" -->
|
||||||
|
<link name="world"/>
|
||||||
|
<ros2_control name="ur5" type="system">
|
||||||
|
<hardware>
|
||||||
|
<plugin>ur_robot_driver/URPositionHardwareInterface</plugin>
|
||||||
|
<param name="robot_ip">172.18.0.2</param>
|
||||||
|
<param name="script_filename">/opt/ros/humble/share/ur_client_library/resources/external_control.urscript</param>
|
||||||
|
<param name="output_recipe_filename">/opt/ros/humble/share/ur_robot_driver/resources/rtde_output_recipe.txt</param>
|
||||||
|
<param name="input_recipe_filename">/opt/ros/humble/share/ur_robot_driver/resources/rtde_input_recipe.txt</param>
|
||||||
|
<param name="headless_mode">False</param>
|
||||||
|
<param name="reverse_port">50001</param>
|
||||||
|
<param name="script_sender_port">50002</param>
|
||||||
|
<param name="reverse_ip">0.0.0.0</param>
|
||||||
|
<param name="script_command_port">50004</param>
|
||||||
|
<param name="trajectory_port">50003</param>
|
||||||
|
<param name="tf_prefix"></param>
|
||||||
|
<param name="non_blocking_read">True</param>
|
||||||
|
<param name="servoj_gain">2000</param>
|
||||||
|
<param name="servoj_lookahead_time">0.03</param>
|
||||||
|
<param name="use_tool_communication">False</param>
|
||||||
|
<param name="kinematics/hash">calib_209549117540498681</param>
|
||||||
|
<param name="tool_voltage">0</param>
|
||||||
|
<param name="tool_parity">0</param>
|
||||||
|
<param name="tool_baud_rate">115200</param>
|
||||||
|
<param name="tool_stop_bits">1</param>
|
||||||
|
<param name="tool_rx_idle_chars">1.5</param>
|
||||||
|
<param name="tool_tx_idle_chars">3.5</param>
|
||||||
|
<param name="tool_device_name">/tmp/ttyUR</param>
|
||||||
|
<param name="tool_tcp_port">54321</param>
|
||||||
|
<param name="keep_alive_count">2</param>
|
||||||
|
</hardware>
|
||||||
|
<joint name="shoulder_pan_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="shoulder_lift_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">-1.57</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="elbow_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_1_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">-1.57</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_2_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_3_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position">
|
||||||
|
<!-- initial position for the FakeSystem and simulation -->
|
||||||
|
<param name="initial_value">0.0</param>
|
||||||
|
</state_interface>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<sensor name="tcp_fts_sensor">
|
||||||
|
<state_interface name="force.x"/>
|
||||||
|
<state_interface name="force.y"/>
|
||||||
|
<state_interface name="force.z"/>
|
||||||
|
<state_interface name="torque.x"/>
|
||||||
|
<state_interface name="torque.y"/>
|
||||||
|
<state_interface name="torque.z"/>
|
||||||
|
</sensor>
|
||||||
|
<sensor name="tcp_pose">
|
||||||
|
<state_interface name="position.x"/>
|
||||||
|
<state_interface name="position.y"/>
|
||||||
|
<state_interface name="position.z"/>
|
||||||
|
<state_interface name="orientation.x"/>
|
||||||
|
<state_interface name="orientation.y"/>
|
||||||
|
<state_interface name="orientation.z"/>
|
||||||
|
<state_interface name="orientation.w"/>
|
||||||
|
</sensor>
|
||||||
|
<!-- NOTE The following are joints used only for testing with fake hardware and will change in the future -->
|
||||||
|
<gpio name="speed_scaling">
|
||||||
|
<state_interface name="speed_scaling_factor"/>
|
||||||
|
<param name="initial_speed_scaling_factor">1</param>
|
||||||
|
<command_interface name="target_speed_fraction_cmd"/>
|
||||||
|
<command_interface name="target_speed_fraction_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="gpio">
|
||||||
|
<command_interface name="standard_digital_output_cmd_0"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_1"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_2"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_3"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_4"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_5"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_6"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_7"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_8"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_9"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_10"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_11"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_12"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_13"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_14"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_15"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_16"/>
|
||||||
|
<command_interface name="standard_digital_output_cmd_17"/>
|
||||||
|
<command_interface name="standard_analog_output_cmd_0"/>
|
||||||
|
<command_interface name="standard_analog_output_cmd_1"/>
|
||||||
|
<command_interface name="analog_output_domain_cmd"/>
|
||||||
|
<command_interface name="tool_voltage_cmd"/>
|
||||||
|
<command_interface name="io_async_success"/>
|
||||||
|
<state_interface name="digital_output_0"/>
|
||||||
|
<state_interface name="digital_output_1"/>
|
||||||
|
<state_interface name="digital_output_2"/>
|
||||||
|
<state_interface name="digital_output_3"/>
|
||||||
|
<state_interface name="digital_output_4"/>
|
||||||
|
<state_interface name="digital_output_5"/>
|
||||||
|
<state_interface name="digital_output_6"/>
|
||||||
|
<state_interface name="digital_output_7"/>
|
||||||
|
<state_interface name="digital_output_8"/>
|
||||||
|
<state_interface name="digital_output_9"/>
|
||||||
|
<state_interface name="digital_output_10"/>
|
||||||
|
<state_interface name="digital_output_11"/>
|
||||||
|
<state_interface name="digital_output_12"/>
|
||||||
|
<state_interface name="digital_output_13"/>
|
||||||
|
<state_interface name="digital_output_14"/>
|
||||||
|
<state_interface name="digital_output_15"/>
|
||||||
|
<state_interface name="digital_output_16"/>
|
||||||
|
<state_interface name="digital_output_17"/>
|
||||||
|
<state_interface name="digital_input_0"/>
|
||||||
|
<state_interface name="digital_input_1"/>
|
||||||
|
<state_interface name="digital_input_2"/>
|
||||||
|
<state_interface name="digital_input_3"/>
|
||||||
|
<state_interface name="digital_input_4"/>
|
||||||
|
<state_interface name="digital_input_5"/>
|
||||||
|
<state_interface name="digital_input_6"/>
|
||||||
|
<state_interface name="digital_input_7"/>
|
||||||
|
<state_interface name="digital_input_8"/>
|
||||||
|
<state_interface name="digital_input_9"/>
|
||||||
|
<state_interface name="digital_input_10"/>
|
||||||
|
<state_interface name="digital_input_11"/>
|
||||||
|
<state_interface name="digital_input_12"/>
|
||||||
|
<state_interface name="digital_input_13"/>
|
||||||
|
<state_interface name="digital_input_14"/>
|
||||||
|
<state_interface name="digital_input_15"/>
|
||||||
|
<state_interface name="digital_input_16"/>
|
||||||
|
<state_interface name="digital_input_17"/>
|
||||||
|
<state_interface name="standard_analog_output_0"/>
|
||||||
|
<state_interface name="standard_analog_output_1"/>
|
||||||
|
<state_interface name="standard_analog_input_0"/>
|
||||||
|
<state_interface name="standard_analog_input_1"/>
|
||||||
|
<state_interface name="analog_io_type_0"/>
|
||||||
|
<state_interface name="analog_io_type_1"/>
|
||||||
|
<state_interface name="analog_io_type_2"/>
|
||||||
|
<state_interface name="analog_io_type_3"/>
|
||||||
|
<state_interface name="tool_mode"/>
|
||||||
|
<state_interface name="tool_output_voltage"/>
|
||||||
|
<state_interface name="tool_output_current"/>
|
||||||
|
<state_interface name="tool_temperature"/>
|
||||||
|
<state_interface name="tool_analog_input_0"/>
|
||||||
|
<state_interface name="tool_analog_input_1"/>
|
||||||
|
<state_interface name="tool_analog_input_type_0"/>
|
||||||
|
<state_interface name="tool_analog_input_type_1"/>
|
||||||
|
<state_interface name="robot_mode"/>
|
||||||
|
<state_interface name="robot_status_bit_0"/>
|
||||||
|
<state_interface name="robot_status_bit_1"/>
|
||||||
|
<state_interface name="robot_status_bit_2"/>
|
||||||
|
<state_interface name="robot_status_bit_3"/>
|
||||||
|
<state_interface name="safety_mode"/>
|
||||||
|
<state_interface name="safety_status_bit_0"/>
|
||||||
|
<state_interface name="safety_status_bit_1"/>
|
||||||
|
<state_interface name="safety_status_bit_2"/>
|
||||||
|
<state_interface name="safety_status_bit_3"/>
|
||||||
|
<state_interface name="safety_status_bit_4"/>
|
||||||
|
<state_interface name="safety_status_bit_5"/>
|
||||||
|
<state_interface name="safety_status_bit_6"/>
|
||||||
|
<state_interface name="safety_status_bit_7"/>
|
||||||
|
<state_interface name="safety_status_bit_8"/>
|
||||||
|
<state_interface name="safety_status_bit_9"/>
|
||||||
|
<state_interface name="safety_status_bit_10"/>
|
||||||
|
<state_interface name="program_running"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="payload">
|
||||||
|
<command_interface name="mass"/>
|
||||||
|
<command_interface name="cog.x"/>
|
||||||
|
<command_interface name="cog.y"/>
|
||||||
|
<command_interface name="cog.z"/>
|
||||||
|
<command_interface name="payload_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="resend_robot_program">
|
||||||
|
<command_interface name="resend_robot_program_cmd"/>
|
||||||
|
<command_interface name="resend_robot_program_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="hand_back_control">
|
||||||
|
<command_interface name="hand_back_control_cmd"/>
|
||||||
|
<command_interface name="hand_back_control_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="zero_ftsensor">
|
||||||
|
<command_interface name="zero_ftsensor_cmd"/>
|
||||||
|
<command_interface name="zero_ftsensor_async_success"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="system_interface">
|
||||||
|
<state_interface name="initialized"/>
|
||||||
|
</gpio>
|
||||||
|
<gpio name="get_robot_software_version">
|
||||||
|
<state_interface name="get_version_major"/>
|
||||||
|
<state_interface name="get_version_minor"/>
|
||||||
|
<state_interface name="get_version_build"/>
|
||||||
|
<state_interface name="get_version_bugfix"/>
|
||||||
|
</gpio>
|
||||||
|
</ros2_control>
|
||||||
|
<!-- Add URDF transmission elements (for ros_control) -->
|
||||||
|
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
|
||||||
|
<!-- Placeholder for ros2_control transmission which don't yet exist -->
|
||||||
|
<!-- links - main serial chain -->
|
||||||
|
<link name="base_link"/>
|
||||||
|
<link name="base_link_inertia">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/base.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="4.0"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="shoulder_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="3.7"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.00193 -0.02561"/>
|
||||||
|
<inertia ixx="0.014972358333333331" ixy="0" ixz="0" iyy="0.014972358333333331" iyz="0" izz="0.01040625"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="upper_arm_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.13585"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="8.393"/>
|
||||||
|
<origin rpy="0 1.570796326794897 0" xyz="-0.2125 0.0 0.11336"/>
|
||||||
|
<inertia ixx="0.13388583541666665" ixy="0" ixz="0" iyy="0.13388583541666665" iyz="0" izz="0.0151074"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="forearm_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.0165"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="2.33"/>
|
||||||
|
<origin rpy="0 1.570796326794897 0" xyz="-0.24225 0.0 0.0265"/>
|
||||||
|
<inertia ixx="0.031216803515624995" ixy="0" ixz="0" iyy="0.031216803515624995" iyz="0" izz="0.004095"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="wrist_1_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.093"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.219"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 -0.01634 -0.0018"/>
|
||||||
|
<inertia ixx="0.002013889583333333" ixy="0" ixz="0" iyy="0.002013889583333333" iyz="0" izz="0.0021942"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="wrist_2_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.095"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.095"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.219"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.01634 -0.0018"/>
|
||||||
|
<inertia ixx="0.0018310395833333333" ixy="0" ixz="0" iyy="0.0018310395833333333" iyz="0" izz="0.0021942"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="wrist_3_link">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0818"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.1879"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 -0.001159"/>
|
||||||
|
<inertia ixx="8.062475833333332e-05" ixy="0" ixz="0" iyy="8.062475833333332e-05" iyz="0" izz="0.0001321171875"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<!-- base_joint fixes base_link to the environment -->
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="world"/>
|
||||||
|
<child link="base_link"/>
|
||||||
|
</joint>
|
||||||
|
<!-- joints - main serial chain -->
|
||||||
|
<joint name="base_link-base_link_inertia" type="fixed">
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="base_link_inertia"/>
|
||||||
|
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||||
|
frames of the robot/controller have X+ pointing backwards.
|
||||||
|
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||||
|
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||||
|
-->
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="shoulder_pan_joint" type="revolute">
|
||||||
|
<parent link="base_link_inertia"/>
|
||||||
|
<child link="shoulder_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.089159"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="shoulder_lift_joint" type="revolute">
|
||||||
|
<parent link="shoulder_link"/>
|
||||||
|
<child link="upper_arm_link"/>
|
||||||
|
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="elbow_joint" type="revolute">
|
||||||
|
<parent link="upper_arm_link"/>
|
||||||
|
<child link="forearm_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.425 0 0"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_1_joint" type="revolute">
|
||||||
|
<parent link="forearm_link"/>
|
||||||
|
<child link="wrist_1_link"/>
|
||||||
|
<origin rpy="0 0 0" xyz="-0.39225 0 0.10915"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_2_joint" type="revolute">
|
||||||
|
<parent link="wrist_1_link"/>
|
||||||
|
<child link="wrist_2_link"/>
|
||||||
|
<origin rpy="1.570796327 0 0" xyz="0 -0.09465 -1.941303950897609e-11"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="wrist_3_joint" type="revolute">
|
||||||
|
<parent link="wrist_2_link"/>
|
||||||
|
<child link="wrist_3_link"/>
|
||||||
|
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0823 -1.688001216681175e-11"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||||
|
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||||
|
<dynamics damping="0" friction="0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="ft_frame"/>
|
||||||
|
<joint name="wrist_3_link-ft_frame" type="fixed">
|
||||||
|
<parent link="wrist_3_link"/>
|
||||||
|
<child link="ft_frame"/>
|
||||||
|
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
|
||||||
|
<link name="base"/>
|
||||||
|
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||||
|
<!-- Note the rotation over Z of pi radians - as base_link is REP-103
|
||||||
|
aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
|
||||||
|
to correctly align 'base' with the 'Base' coordinate system of
|
||||||
|
the UR controller.
|
||||||
|
-->
|
||||||
|
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="base"/>
|
||||||
|
</joint>
|
||||||
|
<!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
|
||||||
|
<link name="flange"/>
|
||||||
|
<joint name="wrist_3-flange" type="fixed">
|
||||||
|
<parent link="wrist_3_link"/>
|
||||||
|
<child link="flange"/>
|
||||||
|
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
<!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
|
||||||
|
<link name="tool0"/>
|
||||||
|
<joint name="flange-tool0" type="fixed">
|
||||||
|
<!-- default toolframe - X+ left, Y+ up, Z+ front -->
|
||||||
|
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||||
|
<parent link="flange"/>
|
||||||
|
<child link="tool0"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
BIN
workspace/.DS_Store
vendored
Normal file
BIN
workspace/.DS_Store
vendored
Normal file
Binary file not shown.
@ -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()
|
||||||
@ -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()
|
||||||
@ -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()
|
||||||
@ -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()
|
||||||
@ -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()
|
||||||
@ -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()
|
||||||
@ -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()
|
||||||
@ -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()
|
||||||
1
workspace/build/mock_robot/colcon_build.rc
Normal file
1
workspace/build/mock_robot/colcon_build.rc
Normal file
@ -0,0 +1 @@
|
|||||||
|
0
|
||||||
@ -0,0 +1 @@
|
|||||||
|
# generated from colcon_core/shell/template/command_prefix.sh.em
|
||||||
@ -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
|
||||||
1
workspace/build/mock_robot/mock_robot
Symbolic link
1
workspace/build/mock_robot/mock_robot
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/mock_robot/mock_robot
|
||||||
12
workspace/build/mock_robot/mock_robot.egg-info/PKG-INFO
Normal file
12
workspace/build/mock_robot/mock_robot.egg-info/PKG-INFO
Normal file
@ -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
20
workspace/build/mock_robot/mock_robot.egg-info/SOURCES.txt
Normal file
@ -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
|
||||||
@ -0,0 +1 @@
|
|||||||
|
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
[console_scripts]
|
||||||
|
mock_robot = mock_robot.robot_node:main
|
||||||
|
|
||||||
@ -0,0 +1 @@
|
|||||||
|
setuptools
|
||||||
@ -0,0 +1 @@
|
|||||||
|
mock_robot
|
||||||
1
workspace/build/mock_robot/mock_robot.egg-info/zip-safe
Normal file
1
workspace/build/mock_robot/mock_robot.egg-info/zip-safe
Normal file
@ -0,0 +1 @@
|
|||||||
|
|
||||||
1
workspace/build/mock_robot/package.xml
Symbolic link
1
workspace/build/mock_robot/package.xml
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/mock_robot/package.xml
|
||||||
Binary file not shown.
@ -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
1
workspace/build/mock_robot/resource/mock_robot
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/mock_robot/resource/mock_robot
|
||||||
1
workspace/build/mock_robot/setup.cfg
Symbolic link
1
workspace/build/mock_robot/setup.cfg
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/mock_robot/setup.cfg
|
||||||
1
workspace/build/mock_robot/setup.py
Symbolic link
1
workspace/build/mock_robot/setup.py
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/mock_robot/setup.py
|
||||||
@ -0,0 +1 @@
|
|||||||
|
prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/mock_robot
|
||||||
@ -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"
|
||||||
@ -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
1
workspace/build/painting_robot_control/colcon_build.rc
Normal file
@ -0,0 +1 @@
|
|||||||
|
0
|
||||||
@ -0,0 +1 @@
|
|||||||
|
# generated from colcon_core/shell/template/command_prefix.sh.em
|
||||||
@ -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
1
workspace/build/painting_robot_control/package.xml
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/painting_robot_control/package.xml
|
||||||
1
workspace/build/painting_robot_control/painting_robot_control
Symbolic link
1
workspace/build/painting_robot_control/painting_robot_control
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/painting_robot_control/painting_robot_control
|
||||||
@ -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
|
||||||
|
|
||||||
@ -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
|
||||||
@ -0,0 +1 @@
|
|||||||
|
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
[console_scripts]
|
||||||
|
painting_robot_controller = painting_robot_control.com_node:main
|
||||||
|
|
||||||
@ -0,0 +1 @@
|
|||||||
|
setuptools
|
||||||
@ -0,0 +1 @@
|
|||||||
|
painting_robot_control
|
||||||
@ -0,0 +1 @@
|
|||||||
|
|
||||||
Binary file not shown.
@ -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'
|
||||||
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/painting_robot_control/resource/painting_robot_control
|
||||||
1
workspace/build/painting_robot_control/setup.cfg
Symbolic link
1
workspace/build/painting_robot_control/setup.cfg
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/painting_robot_control/setup.cfg
|
||||||
1
workspace/build/painting_robot_control/setup.py
Symbolic link
1
workspace/build/painting_robot_control/setup.py
Symbolic link
@ -0,0 +1 @@
|
|||||||
|
/BA/workspace/src/painting_robot_control/setup.py
|
||||||
@ -0,0 +1 @@
|
|||||||
|
prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/painting_robot_control
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||||
|
|
||||||
|
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/BA/workspace/build/painting_robot_control"
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||||
|
|
||||||
|
_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/build/painting_robot_control"
|
||||||
33
workspace/install/joint_control/lib/joint_control/joint_control 2
Executable file
33
workspace/install/joint_control/lib/joint_control/joint_control 2
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','joint_control'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'joint_control')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/plugdata
Executable file
33
workspace/install/joint_control/lib/joint_control/plugdata
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'plugdata')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/plugdata2
Executable file
33
workspace/install/joint_control/lib/joint_control/plugdata2
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata2'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'plugdata2')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/plugdata3
Executable file
33
workspace/install/joint_control/lib/joint_control/plugdata3
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'plugdata3')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/plugdata_cart
Executable file
33
workspace/install/joint_control/lib/joint_control/plugdata_cart
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata_cart'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'plugdata_cart')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/plugdata_cart_fix
Executable file
33
workspace/install/joint_control/lib/joint_control/plugdata_cart_fix
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'plugdata_cart_fix')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/plugdata_cart_smooth
Executable file
33
workspace/install/joint_control/lib/joint_control/plugdata_cart_smooth
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','plugdata_cart_smooth'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'plugdata_cart_smooth')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/test
Executable file
33
workspace/install/joint_control/lib/joint_control/test
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'test')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/trajectory_server 2
Executable file
33
workspace/install/joint_control/lib/joint_control/trajectory_server 2
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server')())
|
||||||
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server_cart_fast')())
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_cart_fast_1'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server_cart_fast_1')())
|
||||||
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server_cart_fast_max_acc')())
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_cart_fast_smooth'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server_cart_fast_smooth')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/trajectory_server_new
Executable file
33
workspace/install/joint_control/lib/joint_control/trajectory_server_new
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server_new')())
|
||||||
33
workspace/install/joint_control/lib/joint_control/trajectory_server_new_cart
Executable file
33
workspace/install/joint_control/lib/joint_control/trajectory_server_new_cart
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-control','console_scripts','trajectory_server_new_cart'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-control'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-control', 'console_scripts', 'trajectory_server_new_cart')())
|
||||||
@ -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')())
|
||||||
@ -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>
|
||||||
@ -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>
|
||||||
33
workspace/install/joint_info/lib/joint_info/joint_states_pub 2
Executable file
33
workspace/install/joint_info/lib/joint_info/joint_states_pub 2
Executable file
@ -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')())
|
||||||
33
workspace/install/joint_info/lib/joint_info/joint_states_sub 2
Executable file
33
workspace/install/joint_info/lib/joint_info/joint_states_sub 2
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-info', 'console_scripts', 'joint_states_sub')())
|
||||||
33
workspace/install/joint_info/lib/joint_info/tcp_cart_pos 2
Executable file
33
workspace/install/joint_info/lib/joint_info/tcp_cart_pos 2
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-info','console_scripts','tcp_cart_pos'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'joint-info'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('joint-info', 'console_scripts', 'tcp_cart_pos')())
|
||||||
24
workspace/install/joint_info/share/joint_info/package 2.xml
Normal file
24
workspace/install/joint_info/share/joint_info/package 2.xml
Normal file
@ -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>
|
||||||
24
workspace/install/joint_info/share/joint_info/package 3.xml
Normal file
24
workspace/install/joint_info/share/joint_info/package 3.xml
Normal file
@ -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>
|
||||||
33
workspace/install/mock_robot/lib/mock_robot/mock_robot
Executable file
33
workspace/install/mock_robot/lib/mock_robot/mock_robot
Executable file
@ -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)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('mock-robot', 'console_scripts', 'mock_robot')())
|
||||||
33
workspace/install/mock_robot/lib/mock_robot/mock_robot_2
Executable file
33
workspace/install/mock_robot/lib/mock_robot/mock_robot_2
Executable file
@ -0,0 +1,33 @@
|
|||||||
|
#!/usr/bin/python3
|
||||||
|
# EASY-INSTALL-ENTRY-SCRIPT: 'mock-robot','console_scripts','mock_robot_2'
|
||||||
|
import re
|
||||||
|
import sys
|
||||||
|
|
||||||
|
# for compatibility with easy_install; see #2198
|
||||||
|
__requires__ = 'mock-robot'
|
||||||
|
|
||||||
|
try:
|
||||||
|
from importlib.metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
try:
|
||||||
|
from importlib_metadata import distribution
|
||||||
|
except ImportError:
|
||||||
|
from pkg_resources import load_entry_point
|
||||||
|
|
||||||
|
|
||||||
|
def importlib_load_entry_point(spec, group, name):
|
||||||
|
dist_name, _, _ = spec.partition('==')
|
||||||
|
matches = (
|
||||||
|
entry_point
|
||||||
|
for entry_point in distribution(dist_name).entry_points
|
||||||
|
if entry_point.group == group and entry_point.name == name
|
||||||
|
)
|
||||||
|
return next(matches).load()
|
||||||
|
|
||||||
|
|
||||||
|
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||||
|
sys.exit(load_entry_point('mock-robot', 'console_scripts', 'mock_robot_2')())
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user