AS: adding first phase of orientation

2025-01-29 09:58:44 +00:00
parent 79001dc331
commit 45650caa1b
5106 changed files with 582827 additions and 0 deletions
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/init.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/init.py
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/callback_group.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/callback_group.py
@@ -0,0 +1,72 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from examples_rclpy_executors.listener import Listener
+import rclpy
+from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class DoubleTalker(Node):
+    """Publish messages to a topic using two publishers at different rates."""
+
+    def __init__(self):
+        super().__init__('double_talker')
+
+        self.i = 0
+        self.pub = self.create_publisher(String, 'chatter', 10)
+
+        # This type of callback group only allows one callback to be executed at a time
+        self.group = MutuallyExclusiveCallbackGroup()
+        # Pass the group as a parameter to give it control over the execution of the timer callback
+        self.timer = self.create_timer(1.0, self.timer_callback, callback_group=self.group)
+        self.timer2 = self.create_timer(0.5, self.timer_callback, callback_group=self.group)
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello World: {0}'.format(self.i)
+        self.i += 1
+        self.get_logger().info('Publishing: "{0}"'.format(msg.data))
+        self.pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    try:
+        talker = DoubleTalker()
+        listener = Listener()
+        # MultiThreadedExecutor executes callbacks with a thread pool. If num_threads is not
+        # specified then num_threads will be multiprocessing.cpu_count() if it is implemented.
+        # Otherwise it will use a single thread. This executor will allow callbacks to happen in
+        # parallel, however the MutuallyExclusiveCallbackGroup in DoubleTalker will only allow its
+        # callbacks to be executed one at a time. The callbacks in Listener are free to execute in
+        # parallel to the ones in DoubleTalker however.
+        executor = MultiThreadedExecutor(num_threads=4)
+        executor.add_node(talker)
+        executor.add_node(listener)
+
+        try:
+            executor.spin()
+        finally:
+            executor.shutdown()
+            listener.destroy_node()
+            talker.destroy_node()
+    finally:
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/composed.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/composed.py
@@ -0,0 +1,52 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+
+from examples_rclpy_executors.listener import Listener
+from examples_rclpy_executors.talker import Talker
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.executors import SingleThreadedExecutor
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    try:
+        talker = Talker()
+        listener = Listener()
+
+        # Runs all callbacks in the main thread
+        executor = SingleThreadedExecutor()
+        # Add imported nodes to this executor
+        executor.add_node(talker)
+        executor.add_node(listener)
+
+        try:
+            # Execute callbacks for both nodes as they become ready
+            executor.spin()
+        finally:
+            executor.shutdown()
+            listener.destroy_node()
+            talker.destroy_node()
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+
+
+if __name__ == '__main__':
+    main()
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/custom_callback_group.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/custom_callback_group.py
@@ -0,0 +1,116 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+import threading
+
+import rclpy
+from rclpy.callback_groups import CallbackGroup
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class ThrottledCallbackGroup(CallbackGroup):
+    """
+    Throttle callbacks using a token bucket.
+
+    Callback groups are responsible for controlling when callbacks are allowed to be executed.
+    rclpy provides two groups: one which always allows a callback to be executed, and another which
+    allows only one callback to be executed at a time. If neither of these are sufficient then a
+    custom callback group should be used instead.
+    """
+
+    def __init__(self, node):
+        super().__init__()
+        self.timer = node.create_timer(0.5, self.timer_callback)
+        self.bucket = 10
+        self.bucket_max = 10
+        self.lock = threading.Lock()
+
+    def can_execute(self, entity):
+        """
+        Ask group if this entity could be executed.
+
+        :param entity: A timer, subscriber, client, or service instance
+        :rtype bool: true if a callback can be executed
+        """
+        return self.bucket > 0
+
+    def beginning_execution(self, entity):
+        """
+        Get permission from the group to execute a callback for an entity.
+
+        :param entity: A timer, subscriber, client, or service instance
+        :rtype bool: true if the executor has permission to execute it
+        """
+        with self.lock:
+            if self.bucket > 0:
+                # Take a token
+                self.bucket -= 1
+                return True
+            # The bucket has no tokens
+            return False
+
+    def ending_execution(self, entity):
+        """
+        Notify group that a callback finished executing.
+
+        :param entity: A timer, subscriber, client, or service instance
+        """
+        pass
+
+    def timer_callback(self):
+        """Replenish the tokens in the bucket at a steady rate."""
+        with self.lock:
+            # If there is room in the bucket, add a token to it.
+            if self.bucket < self.bucket_max:
+                self.bucket += 1
+
+
+class ThrottledTalker(Node):
+    """A Node which uses a custom callback group."""
+
+    def __init__(self):
+        super().__init__('intermittent_talker')
+        self.i = 0
+        self.pub = self.create_publisher(String, 'chatter', 10)
+        self.group = ThrottledCallbackGroup(self)
+        # Timer triggers very quickly, but is part of a throttled group
+        self.timer = self.create_timer(0.1, self.timer_callback, callback_group=self.group)
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello World: {0}'.format(self.i)
+        self.i += 1
+        self.get_logger().info('Publishing: "{0}"'.format(msg.data))
+        self.pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    try:
+        talker = ThrottledTalker()
+        rclpy.spin(talker)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+        talker.destroy_node()
+
+
+if __name__ == '__main__':
+    main()
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/custom_executor.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/custom_executor.py
@@ -0,0 +1,103 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from concurrent.futures import ThreadPoolExecutor
+import os
+
+from examples_rclpy_executors.listener import Listener
+from examples_rclpy_executors.talker import Talker
+import rclpy
+from rclpy.executors import Executor
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class Estopper(Node):
+
+    def __init__(self):
+        super().__init__('estopper')
+        self.sub = self.create_subscription(String, 'estop', self.estop_callback, 10)
+
+    def estop_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+
+
+class PriorityExecutor(Executor):
+    """
+    Execute high priority callbacks in multiple threads, all others in a single thread.
+
+    This is an example of a custom exectuor in python. Executors are responsible for managing
+    how callbacks get mapped to threads. Rclpy provides two executors: one which runs all callbacks
+    in the main thread, and another which runs callbacks in a pool of threads. A custom executor
+    should be written if neither are appropriate for your application.
+    """
+
+    def __init__(self):
+        super().__init__()
+        self.high_priority_nodes = set()
+        self.hp_executor = ThreadPoolExecutor(max_workers=os.cpu_count() or 4)
+        self.lp_executor = ThreadPoolExecutor(max_workers=1)
+
+    def add_high_priority_node(self, node):
+        self.high_priority_nodes.add(node)
+        # add_node inherited
+        self.add_node(node)
+
+    def spin_once(self, timeout_sec=None):
+        """
+        Execute a single callback, then return.
+
+        This is the only function which must be overridden by a custom executor. Its job is to
+        start executing one callback, then return. It uses the method `wait_for_ready_callbacks`
+        to get work to execute.
+
+        :param timeout_sec: Seconds to wait. Block forever if None. Don't wait if <= 0
+        :type timeout_sec: float or None
+        """
+        # wait_for_ready_callbacks yields callbacks that are ready to be executed
+        try:
+            handler, group, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
+        except StopIteration:
+            pass
+        else:
+            if node in self.high_priority_nodes:
+                self.hp_executor.submit(handler)
+            else:
+                self.lp_executor.submit(handler)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    try:
+        listener = Listener()
+        talker = Talker()
+        estopper = Estopper()
+
+        executor = PriorityExecutor()
+        executor.add_high_priority_node(estopper)
+        executor.add_node(listener)
+        executor.add_node(talker)
+        try:
+            executor.spin()
+        finally:
+            executor.shutdown()
+            estopper.destroy_node()
+            talker.destroy_node()
+            listener.destroy_node()
+    finally:
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/listener.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/listener.py
@@ -0,0 +1,66 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class Listener(Node):
+    """
+    A node with a single subscriber.
+
+    This class creates a node which prints messages it receives on a topic. Creating a node by
+    inheriting from Node is recommended because it allows it to be imported and used by
+    other scripts.
+    """
+
+    def __init__(self):
+        # Calls Node.__init__('listener')
+        super().__init__('listener')
+        self.sub = self.create_subscription(String, 'chatter', self.chatter_callback, 10)
+
+    def chatter_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+
+
+def main(args=None):
+    """
+    Run a Listener node standalone.
+
+    This function is called directly when using an entrypoint. Entrypoints are configured in
+    setup.py. This along with the script installation in setup.cfg allows a listener node to be run
+    with the command `ros2 run examples_rclpy_executors listener`.
+
+    :param args: Arguments passed in from the command line.
+    """
+    rclpy.init(args=args)
+    try:
+        listener = Listener()
+        rclpy.spin(listener)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+        listener.destroy_node()
+
+
+if __name__ == '__main__':
+    # Runs a listener node when this script is run directly (not through an entrypoint)
+    main()
--- a/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/talker.py
+++ b/ros2_ws/build/examples_rclpy_executors/build/lib/examples_rclpy_executors/talker.py
@@ -0,0 +1,76 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class Talker(Node):
+    """
+    A node with a single publisher.
+
+    This class creates a node which regularly publishes messages on a topic. Creating a node by
+    inheriting from Node is recommended because it allows it to be imported and used by
+    other scripts.
+    """
+
+    def __init__(self):
+        # Calls Node.__init__('talker')
+        super().__init__('talker')
+        self.i = 0
+        self.pub = self.create_publisher(String, 'chatter', 10)
+        # Create a timer that calls a callback every second. A timer is recommended for executing
+        # periodic tasks because it does not block the main thread while it's waiting. This allows
+        # an executor to do other work when mutliple nodes are run in the same process.
+        self.timer = self.create_timer(1.0, self.timer_callback)
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello World: {0}'.format(self.i)
+        self.i += 1
+        self.get_logger().info('Publishing: "{0}"'.format(msg.data))
+        self.pub.publish(msg)
+
+
+def main(args=None):
+    """
+    Run a Talker node standalone.
+
+    This function is called directly when using an entrypoint. Entrypoints are configured in
+    setup.py. This along with the script installation in setup.cfg allows a talker node to be run
+    with the command `ros2 run examples_rclpy_executors talker`.
+
+    :param args: Arguments passed in from the command line.
+    """
+    # Run standalone
+    rclpy.init(args=args)
+    try:
+        talker = Talker()
+        rclpy.spin(talker)
+    except KeyboardInterrupt:
+        pass
+    except ExternalShutdownException:
+        sys.exit(1)
+    finally:
+        rclpy.try_shutdown()
+        talker.destroy_node()
+
+
+if __name__ == '__main__':
+    # Runs a talker node when this script is run directly (not through an entrypoint)
+    main()
--- a/ros2_ws/build/examples_rclpy_executors/colcon_build.rc
+++ b/ros2_ws/build/examples_rclpy_executors/colcon_build.rc
@@ -0,0 +1 @@
+0
--- a/ros2_ws/build/examples_rclpy_executors/colcon_command_prefix_setup_py.sh
+++ b/ros2_ws/build/examples_rclpy_executors/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
--- a/ros2_ws/build/examples_rclpy_executors/colcon_command_prefix_setup_py.sh.env
+++ b/ros2_ws/build/examples_rclpy_executors/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,20 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+COLCON=1
+HOME=/root
+HOSTNAME=a41c1d4d4b48
+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=/root/ros2_ws/src
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+PWD=/root/ros2_ws/build/examples_rclpy_executors
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHLVL=1
+TERM=xterm
+_=/usr/bin/colcon
+_colcon_cd_root=/opt/ros/humble/
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors
@@ -0,0 +1 @@
+/root/ros2_ws/src/examples/rclpy/executors/examples_rclpy_executors
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/PKG-INFO
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/PKG-INFO
@@ -0,0 +1,19 @@
+Metadata-Version: 2.1
+Name: examples-rclpy-executors
+Version: 0.15.3
+Summary: Examples of creating and using exectors to run multiple nodes in rclpy.
+Home-page: UNKNOWN
+Author: Shane Loretz
+Author-email: sloretz@openrobotics.org
+Maintainer: Aditya Pande, Shane Loretz
+Maintainer-email: aditya.pande@openrobotics.org, shane@openrobotics.org
+License: Apache License, Version 2.0
+Keywords: ROS
+Platform: UNKNOWN
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python
+Classifier: Topic :: Software Development
+
+UNKNOWN
+
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/SOURCES.txt
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/SOURCES.txt
@@ -0,0 +1,21 @@
+package.xml
+setup.cfg
+setup.py
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/PKG-INFO
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/SOURCES.txt
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/dependency_links.txt
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/entry_points.txt
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/requires.txt
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/top_level.txt
+../../../../build/examples_rclpy_executors/examples_rclpy_executors.egg-info/zip-safe
+examples_rclpy_executors/__init__.py
+examples_rclpy_executors/callback_group.py
+examples_rclpy_executors/composed.py
+examples_rclpy_executors/custom_callback_group.py
+examples_rclpy_executors/custom_executor.py
+examples_rclpy_executors/listener.py
+examples_rclpy_executors/talker.py
+resource/examples_rclpy_executors
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/dependency_links.txt
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/entry_points.txt
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/entry_points.txt
@@ -0,0 +1,8 @@
+[console_scripts]
+callback_group = examples_rclpy_executors.callback_group:main
+composed = examples_rclpy_executors.composed:main
+custom_callback_group = examples_rclpy_executors.custom_callback_group:main
+custom_executor = examples_rclpy_executors.custom_executor:main
+listener = examples_rclpy_executors.listener:main
+talker = examples_rclpy_executors.talker:main
+
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/requires.txt
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/requires.txt
@@ -0,0 +1 @@
+setuptools
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/top_level.txt
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/top_level.txt
@@ -0,0 +1 @@
+examples_rclpy_executors
--- a/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/zip-safe
+++ b/ros2_ws/build/examples_rclpy_executors/examples_rclpy_executors.egg-info/zip-safe
@@ -0,0 +1 @@
+
--- a/ros2_ws/build/examples_rclpy_executors/install.log
+++ b/ros2_ws/build/examples_rclpy_executors/install.log
@@ -0,0 +1,29 @@
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/custom_callback_group.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__init__.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/custom_executor.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/talker.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/listener.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/callback_group.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/composed.py
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/custom_callback_group.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/__init__.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/custom_executor.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/talker.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/listener.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/callback_group.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors/__pycache__/composed.cpython-310.pyc
+/root/ros2_ws/install/examples_rclpy_executors/share/ament_index/resource_index/packages/examples_rclpy_executors
+/root/ros2_ws/install/examples_rclpy_executors/share/examples_rclpy_executors/package.xml
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/zip-safe
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/dependency_links.txt
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/top_level.txt
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/requires.txt
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/entry_points.txt
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/PKG-INFO
+/root/ros2_ws/install/examples_rclpy_executors/lib/python3.10/site-packages/examples_rclpy_executors-0.15.3-py3.10.egg-info/SOURCES.txt
+/root/ros2_ws/install/examples_rclpy_executors/lib/examples_rclpy_executors/callback_group
+/root/ros2_ws/install/examples_rclpy_executors/lib/examples_rclpy_executors/composed
+/root/ros2_ws/install/examples_rclpy_executors/lib/examples_rclpy_executors/custom_callback_group
+/root/ros2_ws/install/examples_rclpy_executors/lib/examples_rclpy_executors/custom_executor
+/root/ros2_ws/install/examples_rclpy_executors/lib/examples_rclpy_executors/listener
+/root/ros2_ws/install/examples_rclpy_executors/lib/examples_rclpy_executors/talker
--- a/ros2_ws/build/examples_rclpy_executors/package.xml
+++ b/ros2_ws/build/examples_rclpy_executors/package.xml
@@ -0,0 +1 @@
+/root/ros2_ws/src/examples/rclpy/executors/package.xml
--- a/ros2_ws/build/examples_rclpy_executors/prefix_override/pycache/sitecustomize.cpython-310.pyc
+++ b/ros2_ws/build/examples_rclpy_executors/prefix_override/pycache/sitecustomize.cpython-310.pyc
--- a/ros2_ws/build/examples_rclpy_executors/prefix_override/sitecustomize.py
+++ b/ros2_ws/build/examples_rclpy_executors/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/root/ros2_ws/install/examples_rclpy_executors'
--- a/ros2_ws/build/examples_rclpy_executors/resource/examples_rclpy_executors
+++ b/ros2_ws/build/examples_rclpy_executors/resource/examples_rclpy_executors
@@ -0,0 +1 @@
+/root/ros2_ws/src/examples/rclpy/executors/resource/examples_rclpy_executors
--- a/ros2_ws/build/examples_rclpy_executors/setup.cfg
+++ b/ros2_ws/build/examples_rclpy_executors/setup.cfg
@@ -0,0 +1 @@
+/root/ros2_ws/src/examples/rclpy/executors/setup.cfg
--- a/ros2_ws/build/examples_rclpy_executors/share/examples_rclpy_executors/hook/pythonpath_develop.dsv
+++ b/ros2_ws/build/examples_rclpy_executors/share/examples_rclpy_executors/hook/pythonpath_develop.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/root/ros2_ws/build/examples_rclpy_executors
--- a/ros2_ws/build/examples_rclpy_executors/share/examples_rclpy_executors/hook/pythonpath_develop.ps1
+++ b/ros2_ws/build/examples_rclpy_executors/share/examples_rclpy_executors/hook/pythonpath_develop.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/root/ros2_ws/build/examples_rclpy_executors"
--- a/ros2_ws/build/examples_rclpy_executors/share/examples_rclpy_executors/hook/pythonpath_develop.sh
+++ b/ros2_ws/build/examples_rclpy_executors/share/examples_rclpy_executors/hook/pythonpath_develop.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/root/ros2_ws/build/examples_rclpy_executors"
				`@@ -0,0 +1 @@`
				`# generated from colcon_core/shell/template/command_prefix.sh.em`
				`@@ -0,0 +1 @@`
				`/root/ros2_ws/src/examples/rclpy/executors/examples_rclpy_executors`
				`@@ -0,0 +1 @@`
				`prepend-non-duplicate;PYTHONPATH;/root/ros2_ws/build/examples_rclpy_executors`