AS: pkg for cart info and joint angles control

workspace/install/joint_control/lib/joint_control/joint_control

@@ -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')())

workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link

@@ -0,0 +1,2 @@
+/BA/workspace/build/joint_control
+.

workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control

@@ -0,0 +1 @@
+/BA/workspace/build/joint_control/resource/joint_control

workspace/install/joint_control/share/colcon-core/packages/joint_control

@@ -0,0 +1 @@
+osc4py3:trajectory_msgs:xml

workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

workspace/install/joint_control/share/joint_control/hook/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages

workspace/install/joint_control/share/joint_control/hook/pythonpath.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\lib/python3.10/site-packages"

workspace/install/joint_control/share/joint_control/hook/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"

workspace/install/joint_control/share/joint_control/package.bash

@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/joint_control/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

workspace/install/joint_control/share/joint_control/package.dsv

@@ -0,0 +1,9 @@
+source;share/joint_control/hook/pythonpath.ps1
+source;share/joint_control/hook/pythonpath.dsv
+source;share/joint_control/hook/pythonpath.sh
+source;share/joint_control/hook/ament_prefix_path.ps1
+source;share/joint_control/hook/ament_prefix_path.dsv
+source;share/joint_control/hook/ament_prefix_path.sh
+source;../../build/joint_control/share/joint_control/hook/pythonpath_develop.ps1
+source;../../build/joint_control/share/joint_control/hook/pythonpath_develop.dsv
+source;../../build/joint_control/share/joint_control/hook/pythonpath_develop.sh

workspace/install/joint_control/share/joint_control/package.ps1

@@ -0,0 +1,117 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/joint_control/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/joint_control/hook/ament_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\../../build/joint_control/share/joint_control/hook/pythonpath_develop.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

workspace/install/joint_control/share/joint_control/package.sh

@@ -0,0 +1,88 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# 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_package_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install/joint_control"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/joint_control/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/joint_control/hook/ament_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/joint_control/share/joint_control/hook/pythonpath_develop.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

workspace/install/joint_control/share/joint_control/package.xml

@@ -0,0 +1 @@
+/BA/workspace/build/joint_control/package.xml

workspace/install/joint_control/share/joint_control/package.zsh

@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/joint_control/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

workspace/install/joint_info/lib/joint_info/tcp_cart_pos

@@ -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')())

workspace/install/joint_info/share/colcon-core/packages/joint_info

@@ -1 +1 @@
-osc4py3:rclpy:sensor_msgs
+osc4py3:rclpy:roboticstoolbox:sensor_msgs

workspace/install/setup.bash

@@ -22,7 +22,7 @@ _colcon_prefix_chain_bash_source_script() {
 COLCON_CURRENT_PREFIX="/opt/ros/humble"
 _colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/BA/ros_osc/install"
+COLCON_CURRENT_PREFIX="/BA/workspace/src/install"
 _colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
 
 # source this prefix

workspace/install/setup.ps1

@@ -23,7 +23,7 @@ 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/ros_osc/install\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/BA/workspace/src/install\local_setup.ps1"
 
 # source this prefix
 $env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)

workspace/install/setup.sh

@@ -35,7 +35,7 @@ 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/ros_osc/install"
+COLCON_CURRENT_PREFIX="/BA/workspace/src/install"
 _colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
 
 

workspace/install/setup.zsh

@@ -22,7 +22,7 @@ _colcon_prefix_chain_zsh_source_script() {
 COLCON_CURRENT_PREFIX="/opt/ros/humble"
 _colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/BA/ros_osc/install"
+COLCON_CURRENT_PREFIX="/BA/workspace/src/install"
 _colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
 
 # source this prefix