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This commit is contained in:
Alexander Schaefer
2025-05-12 20:20:00 +02:00
parent 4da5338ca8
commit 472cbc6b08
53 changed files with 2629 additions and 117 deletions
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BIN
test/.DS_Store vendored
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2
test/joint_states_recording.py
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@@ -16,7 +16,7 @@ class JointStateLogger(Node):
self.joint_states_callback,
1000
)
self.robot = rtb.ERobot.URDF('/ws/src/ba-alexanderschaefer/ur10e.urdf')
self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
# Directory to store logs
self.log_dir = './joint_states_logs'
os.makedirs(self.log_dir, exist_ok=True)

2
test/joint_trajectory_recording.py
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@@ -25,7 +25,7 @@ class JointTrajectoryLogger(Node):
)
self.counter = 0
self.robot = rtb.ERobot.URDF('/ws/src/ba-alexanderschaefer/ur10e.urdf')
self.robot = rtb.ERobot.URDF('/BA/ur10e.urdf')
def trajectory_callback(self, msg: JointTrajectory):
self.counter += 1

35
test/osc_command_recording.py Normal file
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@@ -0,0 +1,35 @@
from osc4py3.as_eventloop import *
from osc4py3 import oscmethod as osm
import csv
import time
# CSV setup
csv_file = './pose_log.csv'
with open(csv_file, 'w', newline='') as f:
writer = csv.writer(f)
writer.writerow(["timestamp", "x", "y", "z", "roll", "pitch", "yaw"])
# OSC handler
def pose_handler(timestamp, x, y, z, roll, pitch, yaw):
print(f"[{timestamp:.6f}] Received: x={x}, y={y}, z={z}, roll={roll}, pitch={pitch}, yaw={yaw}")
with open(csv_file, 'a', newline='') as f:
writer = csv.writer(f)
writer.writerow([timestamp, x, y, z, roll, pitch, yaw])
# Setup
osc_startup()
osc_udp_server("0.0.0.0", 8000, "pose_server")
# Register OSC method (with timestamp argument)
osc_method("/tcp_coordinates", pose_handler, argscheme=osm.OSCARG_READTIME+ osm.OSCARG_DATAUNPACK)
print("Listening for OSC messages on port 8000...")
try:
while True:
osc_process()
time.sleep(0.01)
except KeyboardInterrupt:
print("Shutting down...")
osc_terminate()

31
test/rampfunction.py
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@@ -0,0 +1,31 @@
import numpy as np
def symmetric_timestamps(total_duration: float, num_points: int, flat_ratio: float = 0.3) -> list:
"""
Generate symmetric timestamps with increasing → decreasing → flat → increasing spacing pattern.
Args:
total_duration (float): The total duration (last timestamp).
num_points (int): Total number of timestamps (must be >= 3).
flat_ratio (float): Fraction of timestamps in the constant-spacing center (0.0–0.9).
Returns:
List[float]: List of timestamps from 0 to total_duration.
"""
n = int(num_points*(1-flat_ratio)/2)
start = np.cos(np.linspace(0, np.pi, n))+2
end = np.cos(np.linspace(-np.pi, 0, n))+2
flat = np.ones(num_points-2*n)
timestamps = np.concatenate((start, flat, end))
timestamps *= total_duration / timestamps.sum()
timestamps = np.cumsum(timestamps)
return timestamps.tolist()
a = symmetric_timestamps(7.5, 30, 0.7)
for i in range(len(a)-1):
print(f"{a[i]:.2f} - {a[i+1]:.2f} = {a[i+1]-a[i]}")

2
test/ros2_ws/install/local_setup.sh
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@@ -6,7 +6,7 @@
# since a plain shell script can't determine its own path when being sourced
# either use the provided COLCON_CURRENT_PREFIX
# or fall back to the build time prefix (if it exists)
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/ros2_ws/install"
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/test/ros2_ws/install"
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2

8
test/ros2_ws/install/setup.bash
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@@ -17,6 +17,14 @@ _colcon_prefix_chain_bash_source_script() {
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/BA/workspace/install"
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"

4
test/ros2_ws/install/setup.ps1
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@@ -21,6 +21,10 @@ function _colcon_prefix_chain_powershell_source_script {
}
}
# source chained prefixes
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
_colcon_prefix_chain_powershell_source_script "/BA/workspace/install\local_setup.ps1"
# source this prefix
$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"

12
test/ros2_ws/install/setup.sh
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@@ -7,7 +7,7 @@
# since a plain shell script can't determine its own path when being sourced
# either use the provided COLCON_CURRENT_PREFIX
# or fall back to the build time prefix (if it exists)
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/ros2_ws/install
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/test/ros2_ws/install
if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
@@ -29,6 +29,16 @@ _colcon_prefix_chain_sh_source_script() {
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="/BA/workspace/install"
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"

8
test/ros2_ws/install/setup.zsh
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@@ -17,6 +17,14 @@ _colcon_prefix_chain_zsh_source_script() {
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/BA/workspace/install"
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"

7
test/ros2_ws/log/build_2025-05-08_20-38-18/events.log Normal file
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@@ -0,0 +1,7 @@
[0.000000] (-) TimerEvent: {}
[0.000622] (-) JobUnselected: {'identifier': 'more_interfaces'}
[0.000830] (-) JobUnselected: {'identifier': 'py_pubsub'}
[0.000965] (-) JobUnselected: {'identifier': 'py_srvcli'}
[0.001070] (-) JobUnselected: {'identifier': 'python_parameters'}
[0.001108] (-) JobUnselected: {'identifier': 'tutorial_interfaces'}
[0.001146] (-) EventReactorShutdown: {}

160
test/ros2_ws/log/build_2025-05-08_20-38-18/logger_all.log Normal file
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@@ -0,0 +1,160 @@
[0.113s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'joint_control', '--symlink-install']
[0.114s] 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=True, 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=['joint_control'], 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 0x7ffffe202b60>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ffffe2ebaf0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ffffe2ebaf0>>, mixin_verb=('build',))
[0.255s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
[0.256s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta'
[0.256s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta'
[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
[0.256s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
[0.257s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/BA/test/ros2_ws'
[0.257s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
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[0.268s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
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[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extensions ['ignore', 'ignore_ament_install']
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[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control) by extension 'cmake'
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[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_states_control/__pycache__) by extension 'ignore'
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[0.283s] DEBUG:colcon.colcon_core.package_identification:Package 'src/more_interfaces' with type 'ros.ament_cmake' and name 'more_interfaces'
[0.284s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extensions ['ignore', 'ignore_ament_install']
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[0.284s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_pubsub) by extension 'colcon_meta'
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[0.285s] DEBUG:colcon.colcon_core.package_identification:Package 'src/py_pubsub' with type 'ros.ament_python' and name 'py_pubsub'
[0.285s] Level 1:colcon.colcon_core.package_identification:_identify(src/py_srvcli) by extensions ['ignore', 'ignore_ament_install']
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[0.287s] DEBUG:colcon.colcon_core.package_identification:Package 'src/py_srvcli' with type 'ros.ament_python' and name 'py_srvcli'
[0.288s] Level 1:colcon.colcon_core.package_identification:_identify(src/python_parameters) by extensions ['ignore', 'ignore_ament_install']
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[0.289s] DEBUG:colcon.colcon_core.package_identification:Package 'src/python_parameters' with type 'ros.ament_python' and name 'python_parameters'
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[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'ignore_ament_install'
[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['colcon_pkg']
[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'colcon_pkg'
[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['colcon_meta']
[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'colcon_meta'
[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extensions ['ros']
[0.290s] Level 1:colcon.colcon_core.package_identification:_identify(src/tutorial_interfaces) by extension 'ros'
[0.291s] DEBUG:colcon.colcon_core.package_identification:Package 'src/tutorial_interfaces' with type 'ros.ament_cmake' and name 'tutorial_interfaces'
[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
[0.291s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
[0.292s] WARNING:colcon.colcon_core.package_selection:ignoring unknown package 'joint_control' in --packages-select
[0.311s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'more_interfaces' in 'src/more_interfaces'
[0.311s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'python_parameters' in 'src/python_parameters'
[0.311s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'tutorial_interfaces' in 'src/tutorial_interfaces'
[0.311s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'py_pubsub' in 'src/py_pubsub'
[0.311s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'py_srvcli' in 'src/py_srvcli'
[0.311s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
[0.314s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
[0.315s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
[0.315s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
[0.315s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
[0.316s] DEBUG:colcon.colcon_core.event_reactor:joining thread
[0.323s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
[0.323s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
[0.323s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
[0.323s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
[0.325s] 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
[0.325s] DEBUG:colcon.colcon_core.event_reactor:joined thread
[0.327s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
[0.327s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/test/ros2_ws/install/local_setup.ps1'
[0.329s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/test/ros2_ws/install/_local_setup_util_ps1.py'
[0.331s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/test/ros2_ws/install/setup.ps1'
[0.340s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/test/ros2_ws/install/local_setup.sh'
[0.341s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/test/ros2_ws/install/_local_setup_util_sh.py'
[0.342s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/test/ros2_ws/install/setup.sh'
[0.344s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/test/ros2_ws/install/local_setup.bash'
[0.345s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/test/ros2_ws/install/setup.bash'
[0.347s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/test/ros2_ws/install/local_setup.zsh'
[0.347s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/test/ros2_ws/install/setup.zsh'

2
test/ros2_ws/log/latest_build
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build_2025-03-27_14-22-13
build_2025-05-08_20-38-18