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AS: adding first phase of orientation

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This commit is contained in:
Alexander Schaefer
2025-01-29 09:58:44 +00:00
parent 79001dc331
commit 45650caa1b
5106 changed files with 582827 additions and 0 deletions
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0
ros2_ws/build/examples_rclpy_minimal_client/build/lib/examples_rclpy_minimal_client/__init__.py Normal file
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ros2_ws/build/examples_rclpy_minimal_client/build/lib/examples_rclpy_minimal_client/client.py Normal file
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# Copyright 2016 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 example_interfaces.srv import AddTwoInts
import rclpy
def main(args=None):
rclpy.init(args=args)
node = rclpy.create_node('minimal_client')
cli = node.create_client(AddTwoInts, 'add_two_ints')
req = AddTwoInts.Request()
req.a = 41
req.b = 1
while not cli.wait_for_service(timeout_sec=1.0):
node.get_logger().info('service not available, waiting again...')
future = cli.call_async(req)
rclpy.spin_until_future_complete(node, future)
result = future.result()
node.get_logger().info(
'Result of add_two_ints: for %d + %d = %d' %
(req.a, req.b, result.sum))
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

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ros2_ws/build/examples_rclpy_minimal_client/build/lib/examples_rclpy_minimal_client/client_async.py Normal file
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# Copyright 2016 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 example_interfaces.srv import AddTwoInts
import rclpy
def main(args=None):
rclpy.init(args=args)
node = rclpy.create_node('minimal_client_async')
cli = node.create_client(AddTwoInts, 'add_two_ints')
req = AddTwoInts.Request()
req.a = 41
req.b = 1
while not cli.wait_for_service(timeout_sec=1.0):
node.get_logger().info('service not available, waiting again...')
future = cli.call_async(req)
while rclpy.ok():
rclpy.spin_once(node)
if future.done():
result = future.result()
node.get_logger().info(
'Result of add_two_ints: for %d + %d = %d' %
(req.a, req.b, result.sum))
break
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

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ros2_ws/build/examples_rclpy_minimal_client/build/lib/examples_rclpy_minimal_client/client_async_callback.py Normal file
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# Copyright 2018 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 example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.callback_groups import ReentrantCallbackGroup
def main(args=None):
rclpy.init(args=args)
node = rclpy.create_node('minimal_client')
# Node's default callback group is mutually exclusive. This would prevent the client response
# from being processed until the timer callback finished, but the timer callback in this
# example is waiting for the client response
cb_group = ReentrantCallbackGroup()
cli = node.create_client(AddTwoInts, 'add_two_ints', callback_group=cb_group)
did_run = False
did_get_result = False
async def call_service():
nonlocal cli, node, did_run, did_get_result
did_run = True
try:
req = AddTwoInts.Request()
req.a = 41
req.b = 1
future = cli.call_async(req)
result = await future
node.get_logger().info(
'Result of add_two_ints: for %d + %d = %d' %
(req.a, req.b, result.sum))
finally:
did_get_result = True
while not cli.wait_for_service(timeout_sec=1.0):
node.get_logger().info('service not available, waiting again...')
timer = node.create_timer(0.5, call_service, callback_group=cb_group)
while rclpy.ok() and not did_run:
rclpy.spin_once(node)
if did_run:
# call timer callback only once
timer.cancel()
while rclpy.ok() and not did_get_result:
rclpy.spin_once(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

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ros2_ws/build/examples_rclpy_minimal_client/build/lib/examples_rclpy_minimal_client/client_async_member_function.py Normal file
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# Copyright 2016 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 example_interfaces.srv import AddTwoInts
import rclpy
from rclpy.node import Node
class MinimalClientAsync(Node):
def __init__(self):
super().__init__('minimal_client_async')
self.cli = self.create_client(AddTwoInts, 'add_two_ints')
while not self.cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('service not available, waiting again...')
self.req = AddTwoInts.Request()
def send_request(self):
self.req.a = 41
self.req.b = 1
self.future = self.cli.call_async(self.req)
def main(args=None):
rclpy.init(args=args)
minimal_client = MinimalClientAsync()
minimal_client.send_request()
while rclpy.ok():
rclpy.spin_once(minimal_client)
if minimal_client.future.done():
response = minimal_client.future.result()
minimal_client.get_logger().info(
'Result of add_two_ints: for %d + %d = %d' %
(minimal_client.req.a, minimal_client.req.b, response.sum))
break
minimal_client.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

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ros2_ws/build/examples_rclpy_minimal_client/colcon_command_prefix_setup_py.sh Normal file
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# generated from colcon_core/shell/template/command_prefix.sh.em

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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_minimal_client
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/

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ros2_ws/build/examples_rclpy_minimal_client/examples_rclpy_minimal_client Symbolic link
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/root/ros2_ws/src/examples/rclpy/services/minimal_client/examples_rclpy_minimal_client

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ros2_ws/build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/PKG-INFO Normal file
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Metadata-Version: 2.1
Name: examples-rclpy-minimal-client
Version: 0.15.3
Summary: Examples of minimal service clients using rclpy.
Home-page: UNKNOWN
Author: Mikael Arguedas
Author-email: mikael@osrfoundation.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

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ros2_ws/build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/SOURCES.txt Normal file
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README.md
package.xml
setup.cfg
setup.py
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/PKG-INFO
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/SOURCES.txt
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/dependency_links.txt
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/entry_points.txt
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/requires.txt
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/top_level.txt
../../../../../build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/zip-safe
examples_rclpy_minimal_client/__init__.py
examples_rclpy_minimal_client/client.py
examples_rclpy_minimal_client/client_async.py
examples_rclpy_minimal_client/client_async_callback.py
examples_rclpy_minimal_client/client_async_member_function.py
resource/examples_rclpy_minimal_client
test/test_copyright.py
test/test_flake8.py
test/test_pep257.py

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ros2_ws/build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/entry_points.txt Normal file
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[console_scripts]
client = examples_rclpy_minimal_client.client:main
client_async = examples_rclpy_minimal_client.client_async:main
client_async_callback = examples_rclpy_minimal_client.client_async_callback:main
client_async_member_function = examples_rclpy_minimal_client.client_async_member_function:main

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ros2_ws/build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/requires.txt Normal file
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setuptools

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ros2_ws/build/examples_rclpy_minimal_client/examples_rclpy_minimal_client.egg-info/top_level.txt Normal file
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examples_rclpy_minimal_client

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ros2_ws/build/examples_rclpy_minimal_client/install.log Normal file
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/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/__init__.py
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client.py
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client_async_member_function.py
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client_async_callback.py
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/client_async.py
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/__pycache__/__init__.cpython-310.pyc
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/__pycache__/client.cpython-310.pyc
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/__pycache__/client_async_member_function.cpython-310.pyc
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/__pycache__/client_async_callback.cpython-310.pyc
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client/__pycache__/client_async.cpython-310.pyc
/root/ros2_ws/install/examples_rclpy_minimal_client/share/ament_index/resource_index/packages/examples_rclpy_minimal_client
/root/ros2_ws/install/examples_rclpy_minimal_client/share/examples_rclpy_minimal_client/package.xml
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/zip-safe
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/dependency_links.txt
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/top_level.txt
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/requires.txt
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/entry_points.txt
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/PKG-INFO
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/python3.10/site-packages/examples_rclpy_minimal_client-0.15.3-py3.10.egg-info/SOURCES.txt
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client_async
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client_async_callback
/root/ros2_ws/install/examples_rclpy_minimal_client/lib/examples_rclpy_minimal_client/client_async_member_function

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/root/ros2_ws/src/examples/rclpy/services/minimal_client/package.xml

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ros2_ws/build/examples_rclpy_minimal_client/prefix_override/sitecustomize.py Normal file
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import sys
if sys.prefix == '/usr':
sys.real_prefix = sys.prefix
sys.prefix = sys.exec_prefix = '/root/ros2_ws/install/examples_rclpy_minimal_client'

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/root/ros2_ws/src/examples/rclpy/services/minimal_client/resource/examples_rclpy_minimal_client

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ros2_ws/build/examples_rclpy_minimal_client/setup.cfg Symbolic link
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/root/ros2_ws/src/examples/rclpy/services/minimal_client/setup.cfg

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ros2_ws/build/examples_rclpy_minimal_client/share/examples_rclpy_minimal_client/hook/pythonpath_develop.dsv Normal file
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prepend-non-duplicate;PYTHONPATH;/root/ros2_ws/build/examples_rclpy_minimal_client

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ros2_ws/build/examples_rclpy_minimal_client/share/examples_rclpy_minimal_client/hook/pythonpath_develop.ps1 Normal file
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# 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_minimal_client"

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ros2_ws/build/examples_rclpy_minimal_client/share/examples_rclpy_minimal_client/hook/pythonpath_develop.sh Normal file
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value PYTHONPATH "/root/ros2_ws/build/examples_rclpy_minimal_client"