AS: cart and joint trajectories added
This commit is contained in:
Alexander Schaefer
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colcon
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@@ -1 +0,0 @@
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0
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@@ -1 +0,0 @@
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# generated from colcon_core/shell/template/command_prefix.sh.em
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@@ -1,21 +0,0 @@
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AMENT_PREFIX_PATH=/BA/workspace/src/install/joint_info:/BA/workspace/src/install/joint_control:/opt/ros/humble
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COLCON=1
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COLCON_PREFIX_PATH=/BA/workspace/src/install
|
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HOME=/root
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HOSTNAME=3230bc57d699
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LANG=C.UTF-8
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LC_ALL=C.UTF-8
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LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
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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:
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OLDPWD=/BA/workspace
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PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
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PWD=/BA/workspace/src/build/joint_control
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PYTHONPATH=/BA/workspace/src/build/joint_info:/BA/workspace/src/install/joint_info/lib/python3.10/site-packages:/BA/workspace/src/build/joint_control:/BA/workspace/src/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
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ROS_DISTRO=humble
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ROS_LOCALHOST_ONLY=0
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ROS_PYTHON_VERSION=3
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ROS_VERSION=2
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SHLVL=1
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TERM=xterm
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_=/usr/bin/colcon
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_colcon_cd_root=/opt/ros/foxy/
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/BA/workspace/src/joint_control/joint_control
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Metadata-Version: 2.1
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Name: joint-control
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Version: 0.0.0
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Summary: TODO: Package description
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Home-page: UNKNOWN
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Maintainer: root
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Maintainer-email: root@todo.todo
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License: TODO: License declaration
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Platform: UNKNOWN
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UNKNOWN
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@@ -1,13 +0,0 @@
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package.xml
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setup.cfg
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setup.py
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joint_control/__init__.py
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joint_control/joint_angles_server.py
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joint_control.egg-info/PKG-INFO
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joint_control.egg-info/SOURCES.txt
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joint_control.egg-info/dependency_links.txt
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joint_control.egg-info/entry_points.txt
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joint_control.egg-info/requires.txt
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joint_control.egg-info/top_level.txt
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joint_control.egg-info/zip-safe
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resource/joint_control
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@@ -1,3 +0,0 @@
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[console_scripts]
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joint_control = joint_control.joint_angles_server:main
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@@ -1 +0,0 @@
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setuptoolsosc4py3
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@@ -1 +0,0 @@
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joint_control
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@@ -1 +0,0 @@
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/BA/workspace/src/joint_control/package.xml
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Binary file not shown.
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import sys
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if sys.prefix == '/usr':
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sys.real_prefix = sys.prefix
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sys.prefix = sys.exec_prefix = '/BA/workspace/src/install/joint_control'
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@@ -1 +0,0 @@
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/BA/workspace/src/joint_control/resource/joint_control
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@@ -1 +0,0 @@
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/BA/workspace/src/joint_control/setup.cfg
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@@ -1 +0,0 @@
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/BA/workspace/src/joint_control/setup.py
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@@ -1 +0,0 @@
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prepend-non-duplicate;PYTHONPATH;/BA/workspace/src/build/joint_control
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@@ -1,3 +0,0 @@
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# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
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colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/BA/workspace/src/build/joint_control"
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@@ -1,3 +0,0 @@
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
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_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/src/build/joint_control"
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@@ -1 +0,0 @@
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0
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@@ -1 +0,0 @@
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# generated from colcon_core/shell/template/command_prefix.sh.em
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@@ -1,21 +0,0 @@
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AMENT_PREFIX_PATH=/BA/workspace/src/install/joint_info:/BA/workspace/src/install/joint_control:/opt/ros/humble
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COLCON=1
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||||
COLCON_PREFIX_PATH=/BA/workspace/src/install
|
||||
HOME=/root
|
||||
HOSTNAME=3230bc57d699
|
||||
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
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||||
PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
|
||||
PWD=/BA/workspace/src/build/joint_info
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||||
PYTHONPATH=/BA/workspace/src/build/joint_info:/BA/workspace/src/install/joint_info/lib/python3.10/site-packages:/BA/workspace/src/build/joint_control:/BA/workspace/src/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
|
||||
_colcon_cd_root=/opt/ros/foxy/
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/joint_info/joint_info
|
||||
@@ -1,12 +0,0 @@
|
||||
Metadata-Version: 2.1
|
||||
Name: joint-info
|
||||
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
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
package.xml
|
||||
setup.cfg
|
||||
setup.py
|
||||
joint_info/__init__.py
|
||||
joint_info/osc_joint_states_pub.py
|
||||
joint_info/osc_joint_states_sub.py
|
||||
joint_info/tcp_cart_pos.py
|
||||
joint_info.egg-info/PKG-INFO
|
||||
joint_info.egg-info/SOURCES.txt
|
||||
joint_info.egg-info/dependency_links.txt
|
||||
joint_info.egg-info/entry_points.txt
|
||||
joint_info.egg-info/requires.txt
|
||||
joint_info.egg-info/top_level.txt
|
||||
joint_info.egg-info/zip-safe
|
||||
resource/joint_info
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||||
@@ -1,5 +0,0 @@
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[console_scripts]
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joint_states_pub = joint_info.osc_joint_states_pub:main
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joint_states_sub = joint_info.osc_joint_states_sub:main
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tcp_cart_pos = joint_info.tcp_cart_pos:main
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|
||||
@@ -1 +0,0 @@
|
||||
setuptoolsosc4py3
|
||||
@@ -1 +0,0 @@
|
||||
joint_info
|
||||
@@ -1 +0,0 @@
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/joint_info/package.xml
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||||
Binary file not shown.
@@ -1,4 +0,0 @@
|
||||
import sys
|
||||
if sys.prefix == '/usr':
|
||||
sys.real_prefix = sys.prefix
|
||||
sys.prefix = sys.exec_prefix = '/BA/workspace/src/install/joint_info'
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/joint_info/resource/joint_info
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/joint_info/setup.cfg
|
||||
@@ -1 +0,0 @@
|
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/BA/workspace/src/joint_info/setup.py
|
||||
@@ -1 +0,0 @@
|
||||
prepend-non-duplicate;PYTHONPATH;/BA/workspace/src/build/joint_info
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/BA/workspace/src/build/joint_info"
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/src/build/joint_info"
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@@ -17,7 +17,7 @@ def main():
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osc_udp_server(ip, port, "osc_server")
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# Associate Python functions with message address patterns
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osc_method("/tcp_position", joint_states_handler, argscheme=osm.OSCARG_DATAUNPACK)
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osc_method("/tcp_position_t", joint_states_handler, argscheme=osm.OSCARG_DATAUNPACK)
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print(f"Listening for OSC messages on {ip}:{port}...")
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@@ -1 +0,0 @@
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isolated
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@@ -1,407 +0,0 @@
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# Copyright 2016-2019 Dirk Thomas
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# Licensed under the Apache License, Version 2.0
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|
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import argparse
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from collections import OrderedDict
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import os
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from pathlib import Path
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import sys
|
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|
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|
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FORMAT_STR_COMMENT_LINE = '# {comment}'
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||||
FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
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FORMAT_STR_USE_ENV_VAR = '$env:{name}'
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||||
FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501
|
||||
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
|
||||
DSV_TYPE_SET = 'set'
|
||||
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
|
||||
DSV_TYPE_SOURCE = 'source'
|
||||
|
||||
|
||||
def main(argv=sys.argv[1:]): # noqa: D103
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Output shell commands for the packages in topological '
|
||||
'order')
|
||||
parser.add_argument(
|
||||
'primary_extension',
|
||||
help='The file extension of the primary shell')
|
||||
parser.add_argument(
|
||||
'additional_extension', nargs='?',
|
||||
help='The additional file extension to be considered')
|
||||
parser.add_argument(
|
||||
'--merged-install', action='store_true',
|
||||
help='All install prefixes are merged into a single location')
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
packages = get_packages(Path(__file__).parent, args.merged_install)
|
||||
|
||||
ordered_packages = order_packages(packages)
|
||||
for pkg_name in ordered_packages:
|
||||
if _include_comments():
|
||||
print(
|
||||
FORMAT_STR_COMMENT_LINE.format_map(
|
||||
{'comment': 'Package: ' + pkg_name}))
|
||||
prefix = os.path.abspath(os.path.dirname(__file__))
|
||||
if not args.merged_install:
|
||||
prefix = os.path.join(prefix, pkg_name)
|
||||
for line in get_commands(
|
||||
pkg_name, prefix, args.primary_extension,
|
||||
args.additional_extension
|
||||
):
|
||||
print(line)
|
||||
|
||||
for line in _remove_ending_separators():
|
||||
print(line)
|
||||
|
||||
|
||||
def get_packages(prefix_path, merged_install):
|
||||
"""
|
||||
Find packages based on colcon-specific files created during installation.
|
||||
|
||||
:param Path prefix_path: The install prefix path of all packages
|
||||
:param bool merged_install: The flag if the packages are all installed
|
||||
directly in the prefix or if each package is installed in a subdirectory
|
||||
named after the package
|
||||
:returns: A mapping from the package name to the set of runtime
|
||||
dependencies
|
||||
:rtype: dict
|
||||
"""
|
||||
packages = {}
|
||||
# since importing colcon_core isn't feasible here the following constant
|
||||
# must match colcon_core.location.get_relative_package_index_path()
|
||||
subdirectory = 'share/colcon-core/packages'
|
||||
if merged_install:
|
||||
# return if workspace is empty
|
||||
if not (prefix_path / subdirectory).is_dir():
|
||||
return packages
|
||||
# find all files in the subdirectory
|
||||
for p in (prefix_path / subdirectory).iterdir():
|
||||
if not p.is_file():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
else:
|
||||
# for each subdirectory look for the package specific file
|
||||
for p in prefix_path.iterdir():
|
||||
if not p.is_dir():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
p = p / subdirectory / p.name
|
||||
if p.is_file():
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
|
||||
# remove unknown dependencies
|
||||
pkg_names = set(packages.keys())
|
||||
for k in packages.keys():
|
||||
packages[k] = {d for d in packages[k] if d in pkg_names}
|
||||
|
||||
return packages
|
||||
|
||||
|
||||
def add_package_runtime_dependencies(path, packages):
|
||||
"""
|
||||
Check the path and if it exists extract the packages runtime dependencies.
|
||||
|
||||
:param Path path: The resource file containing the runtime dependencies
|
||||
:param dict packages: A mapping from package names to the sets of runtime
|
||||
dependencies to add to
|
||||
"""
|
||||
content = path.read_text()
|
||||
dependencies = set(content.split(os.pathsep) if content else [])
|
||||
packages[path.name] = dependencies
|
||||
|
||||
|
||||
def order_packages(packages):
|
||||
"""
|
||||
Order packages topologically.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies
|
||||
:returns: The package names
|
||||
:rtype: list
|
||||
"""
|
||||
# select packages with no dependencies in alphabetical order
|
||||
to_be_ordered = list(packages.keys())
|
||||
ordered = []
|
||||
while to_be_ordered:
|
||||
pkg_names_without_deps = [
|
||||
name for name in to_be_ordered if not packages[name]]
|
||||
if not pkg_names_without_deps:
|
||||
reduce_cycle_set(packages)
|
||||
raise RuntimeError(
|
||||
'Circular dependency between: ' + ', '.join(sorted(packages)))
|
||||
pkg_names_without_deps.sort()
|
||||
pkg_name = pkg_names_without_deps[0]
|
||||
to_be_ordered.remove(pkg_name)
|
||||
ordered.append(pkg_name)
|
||||
# remove item from dependency lists
|
||||
for k in list(packages.keys()):
|
||||
if pkg_name in packages[k]:
|
||||
packages[k].remove(pkg_name)
|
||||
return ordered
|
||||
|
||||
|
||||
def reduce_cycle_set(packages):
|
||||
"""
|
||||
Reduce the set of packages to the ones part of the circular dependency.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies which is modified in place
|
||||
"""
|
||||
last_depended = None
|
||||
while len(packages) > 0:
|
||||
# get all remaining dependencies
|
||||
depended = set()
|
||||
for pkg_name, dependencies in packages.items():
|
||||
depended = depended.union(dependencies)
|
||||
# remove all packages which are not dependent on
|
||||
for name in list(packages.keys()):
|
||||
if name not in depended:
|
||||
del packages[name]
|
||||
if last_depended:
|
||||
# if remaining packages haven't changed return them
|
||||
if last_depended == depended:
|
||||
return packages.keys()
|
||||
# otherwise reduce again
|
||||
last_depended = depended
|
||||
|
||||
|
||||
def _include_comments():
|
||||
# skipping comment lines when COLCON_TRACE is not set speeds up the
|
||||
# processing especially on Windows
|
||||
return bool(os.environ.get('COLCON_TRACE'))
|
||||
|
||||
|
||||
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
|
||||
commands = []
|
||||
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
|
||||
if os.path.exists(package_dsv_path):
|
||||
commands += process_dsv_file(
|
||||
package_dsv_path, prefix, primary_extension, additional_extension)
|
||||
return commands
|
||||
|
||||
|
||||
def process_dsv_file(
|
||||
dsv_path, prefix, primary_extension=None, additional_extension=None
|
||||
):
|
||||
commands = []
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
|
||||
with open(dsv_path, 'r') as h:
|
||||
content = h.read()
|
||||
lines = content.splitlines()
|
||||
|
||||
basenames = OrderedDict()
|
||||
for i, line in enumerate(lines):
|
||||
# skip over empty or whitespace-only lines
|
||||
if not line.strip():
|
||||
continue
|
||||
# skip over comments
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
try:
|
||||
type_, remainder = line.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' doesn't contain a semicolon separating the "
|
||||
'type from the arguments' % (i + 1, dsv_path))
|
||||
if type_ != DSV_TYPE_SOURCE:
|
||||
# handle non-source lines
|
||||
try:
|
||||
commands += handle_dsv_types_except_source(
|
||||
type_, remainder, prefix)
|
||||
except RuntimeError as e:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
|
||||
else:
|
||||
# group remaining source lines by basename
|
||||
path_without_ext, ext = os.path.splitext(remainder)
|
||||
if path_without_ext not in basenames:
|
||||
basenames[path_without_ext] = set()
|
||||
assert ext.startswith('.')
|
||||
ext = ext[1:]
|
||||
if ext in (primary_extension, additional_extension):
|
||||
basenames[path_without_ext].add(ext)
|
||||
|
||||
# add the dsv extension to each basename if the file exists
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if os.path.exists(basename + '.dsv'):
|
||||
extensions.add('dsv')
|
||||
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if 'dsv' in extensions:
|
||||
# process dsv files recursively
|
||||
commands += process_dsv_file(
|
||||
basename + '.dsv', prefix, primary_extension=primary_extension,
|
||||
additional_extension=additional_extension)
|
||||
elif primary_extension in extensions and len(extensions) == 1:
|
||||
# source primary-only files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + primary_extension})]
|
||||
elif additional_extension in extensions:
|
||||
# source non-primary files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + additional_extension})]
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def handle_dsv_types_except_source(type_, remainder, prefix):
|
||||
commands = []
|
||||
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
|
||||
try:
|
||||
env_name, value = remainder.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the value')
|
||||
try_prefixed_value = os.path.join(prefix, value) if value else prefix
|
||||
if os.path.exists(try_prefixed_value):
|
||||
value = try_prefixed_value
|
||||
if type_ == DSV_TYPE_SET:
|
||||
commands += _set(env_name, value)
|
||||
elif type_ == DSV_TYPE_SET_IF_UNSET:
|
||||
commands += _set_if_unset(env_name, value)
|
||||
else:
|
||||
assert False
|
||||
elif type_ in (
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
|
||||
):
|
||||
try:
|
||||
env_name_and_values = remainder.split(';')
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the values')
|
||||
env_name = env_name_and_values[0]
|
||||
values = env_name_and_values[1:]
|
||||
for value in values:
|
||||
if not value:
|
||||
value = prefix
|
||||
elif not os.path.isabs(value):
|
||||
value = os.path.join(prefix, value)
|
||||
if (
|
||||
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
|
||||
not os.path.exists(value)
|
||||
):
|
||||
comment = f'skip extending {env_name} with not existing ' \
|
||||
f'path: {value}'
|
||||
if _include_comments():
|
||||
commands.append(
|
||||
FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
|
||||
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
|
||||
commands += _append_unique_value(env_name, value)
|
||||
else:
|
||||
commands += _prepend_unique_value(env_name, value)
|
||||
else:
|
||||
raise RuntimeError(
|
||||
'contains an unknown environment hook type: ' + type_)
|
||||
return commands
|
||||
|
||||
|
||||
env_state = {}
|
||||
|
||||
|
||||
def _append_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# append even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional leading separator
|
||||
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': extend + value})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
def _prepend_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# prepend even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional trailing separator
|
||||
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value + extend})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
# generate commands for removing prepended underscores
|
||||
def _remove_ending_separators():
|
||||
# do nothing if the shell extension does not implement the logic
|
||||
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
|
||||
return []
|
||||
|
||||
global env_state
|
||||
commands = []
|
||||
for name in env_state:
|
||||
# skip variables that already had values before this script started prepending
|
||||
if name in os.environ:
|
||||
continue
|
||||
commands += [
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
|
||||
return commands
|
||||
|
||||
|
||||
def _set(name, value):
|
||||
global env_state
|
||||
env_state[name] = value
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
return [line]
|
||||
|
||||
|
||||
def _set_if_unset(name, value):
|
||||
global env_state
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
if env_state.get(name, os.environ.get(name)):
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
if __name__ == '__main__': # pragma: no cover
|
||||
try:
|
||||
rc = main()
|
||||
except RuntimeError as e:
|
||||
print(str(e), file=sys.stderr)
|
||||
rc = 1
|
||||
sys.exit(rc)
|
||||
@@ -1,407 +0,0 @@
|
||||
# Copyright 2016-2019 Dirk Thomas
|
||||
# Licensed under the Apache License, Version 2.0
|
||||
|
||||
import argparse
|
||||
from collections import OrderedDict
|
||||
import os
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
|
||||
FORMAT_STR_COMMENT_LINE = '# {comment}'
|
||||
FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
|
||||
FORMAT_STR_USE_ENV_VAR = '${name}'
|
||||
FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501
|
||||
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
|
||||
DSV_TYPE_SET = 'set'
|
||||
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
|
||||
DSV_TYPE_SOURCE = 'source'
|
||||
|
||||
|
||||
def main(argv=sys.argv[1:]): # noqa: D103
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Output shell commands for the packages in topological '
|
||||
'order')
|
||||
parser.add_argument(
|
||||
'primary_extension',
|
||||
help='The file extension of the primary shell')
|
||||
parser.add_argument(
|
||||
'additional_extension', nargs='?',
|
||||
help='The additional file extension to be considered')
|
||||
parser.add_argument(
|
||||
'--merged-install', action='store_true',
|
||||
help='All install prefixes are merged into a single location')
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
packages = get_packages(Path(__file__).parent, args.merged_install)
|
||||
|
||||
ordered_packages = order_packages(packages)
|
||||
for pkg_name in ordered_packages:
|
||||
if _include_comments():
|
||||
print(
|
||||
FORMAT_STR_COMMENT_LINE.format_map(
|
||||
{'comment': 'Package: ' + pkg_name}))
|
||||
prefix = os.path.abspath(os.path.dirname(__file__))
|
||||
if not args.merged_install:
|
||||
prefix = os.path.join(prefix, pkg_name)
|
||||
for line in get_commands(
|
||||
pkg_name, prefix, args.primary_extension,
|
||||
args.additional_extension
|
||||
):
|
||||
print(line)
|
||||
|
||||
for line in _remove_ending_separators():
|
||||
print(line)
|
||||
|
||||
|
||||
def get_packages(prefix_path, merged_install):
|
||||
"""
|
||||
Find packages based on colcon-specific files created during installation.
|
||||
|
||||
:param Path prefix_path: The install prefix path of all packages
|
||||
:param bool merged_install: The flag if the packages are all installed
|
||||
directly in the prefix or if each package is installed in a subdirectory
|
||||
named after the package
|
||||
:returns: A mapping from the package name to the set of runtime
|
||||
dependencies
|
||||
:rtype: dict
|
||||
"""
|
||||
packages = {}
|
||||
# since importing colcon_core isn't feasible here the following constant
|
||||
# must match colcon_core.location.get_relative_package_index_path()
|
||||
subdirectory = 'share/colcon-core/packages'
|
||||
if merged_install:
|
||||
# return if workspace is empty
|
||||
if not (prefix_path / subdirectory).is_dir():
|
||||
return packages
|
||||
# find all files in the subdirectory
|
||||
for p in (prefix_path / subdirectory).iterdir():
|
||||
if not p.is_file():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
else:
|
||||
# for each subdirectory look for the package specific file
|
||||
for p in prefix_path.iterdir():
|
||||
if not p.is_dir():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
p = p / subdirectory / p.name
|
||||
if p.is_file():
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
|
||||
# remove unknown dependencies
|
||||
pkg_names = set(packages.keys())
|
||||
for k in packages.keys():
|
||||
packages[k] = {d for d in packages[k] if d in pkg_names}
|
||||
|
||||
return packages
|
||||
|
||||
|
||||
def add_package_runtime_dependencies(path, packages):
|
||||
"""
|
||||
Check the path and if it exists extract the packages runtime dependencies.
|
||||
|
||||
:param Path path: The resource file containing the runtime dependencies
|
||||
:param dict packages: A mapping from package names to the sets of runtime
|
||||
dependencies to add to
|
||||
"""
|
||||
content = path.read_text()
|
||||
dependencies = set(content.split(os.pathsep) if content else [])
|
||||
packages[path.name] = dependencies
|
||||
|
||||
|
||||
def order_packages(packages):
|
||||
"""
|
||||
Order packages topologically.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies
|
||||
:returns: The package names
|
||||
:rtype: list
|
||||
"""
|
||||
# select packages with no dependencies in alphabetical order
|
||||
to_be_ordered = list(packages.keys())
|
||||
ordered = []
|
||||
while to_be_ordered:
|
||||
pkg_names_without_deps = [
|
||||
name for name in to_be_ordered if not packages[name]]
|
||||
if not pkg_names_without_deps:
|
||||
reduce_cycle_set(packages)
|
||||
raise RuntimeError(
|
||||
'Circular dependency between: ' + ', '.join(sorted(packages)))
|
||||
pkg_names_without_deps.sort()
|
||||
pkg_name = pkg_names_without_deps[0]
|
||||
to_be_ordered.remove(pkg_name)
|
||||
ordered.append(pkg_name)
|
||||
# remove item from dependency lists
|
||||
for k in list(packages.keys()):
|
||||
if pkg_name in packages[k]:
|
||||
packages[k].remove(pkg_name)
|
||||
return ordered
|
||||
|
||||
|
||||
def reduce_cycle_set(packages):
|
||||
"""
|
||||
Reduce the set of packages to the ones part of the circular dependency.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies which is modified in place
|
||||
"""
|
||||
last_depended = None
|
||||
while len(packages) > 0:
|
||||
# get all remaining dependencies
|
||||
depended = set()
|
||||
for pkg_name, dependencies in packages.items():
|
||||
depended = depended.union(dependencies)
|
||||
# remove all packages which are not dependent on
|
||||
for name in list(packages.keys()):
|
||||
if name not in depended:
|
||||
del packages[name]
|
||||
if last_depended:
|
||||
# if remaining packages haven't changed return them
|
||||
if last_depended == depended:
|
||||
return packages.keys()
|
||||
# otherwise reduce again
|
||||
last_depended = depended
|
||||
|
||||
|
||||
def _include_comments():
|
||||
# skipping comment lines when COLCON_TRACE is not set speeds up the
|
||||
# processing especially on Windows
|
||||
return bool(os.environ.get('COLCON_TRACE'))
|
||||
|
||||
|
||||
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
|
||||
commands = []
|
||||
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
|
||||
if os.path.exists(package_dsv_path):
|
||||
commands += process_dsv_file(
|
||||
package_dsv_path, prefix, primary_extension, additional_extension)
|
||||
return commands
|
||||
|
||||
|
||||
def process_dsv_file(
|
||||
dsv_path, prefix, primary_extension=None, additional_extension=None
|
||||
):
|
||||
commands = []
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
|
||||
with open(dsv_path, 'r') as h:
|
||||
content = h.read()
|
||||
lines = content.splitlines()
|
||||
|
||||
basenames = OrderedDict()
|
||||
for i, line in enumerate(lines):
|
||||
# skip over empty or whitespace-only lines
|
||||
if not line.strip():
|
||||
continue
|
||||
# skip over comments
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
try:
|
||||
type_, remainder = line.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' doesn't contain a semicolon separating the "
|
||||
'type from the arguments' % (i + 1, dsv_path))
|
||||
if type_ != DSV_TYPE_SOURCE:
|
||||
# handle non-source lines
|
||||
try:
|
||||
commands += handle_dsv_types_except_source(
|
||||
type_, remainder, prefix)
|
||||
except RuntimeError as e:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
|
||||
else:
|
||||
# group remaining source lines by basename
|
||||
path_without_ext, ext = os.path.splitext(remainder)
|
||||
if path_without_ext not in basenames:
|
||||
basenames[path_without_ext] = set()
|
||||
assert ext.startswith('.')
|
||||
ext = ext[1:]
|
||||
if ext in (primary_extension, additional_extension):
|
||||
basenames[path_without_ext].add(ext)
|
||||
|
||||
# add the dsv extension to each basename if the file exists
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if os.path.exists(basename + '.dsv'):
|
||||
extensions.add('dsv')
|
||||
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if 'dsv' in extensions:
|
||||
# process dsv files recursively
|
||||
commands += process_dsv_file(
|
||||
basename + '.dsv', prefix, primary_extension=primary_extension,
|
||||
additional_extension=additional_extension)
|
||||
elif primary_extension in extensions and len(extensions) == 1:
|
||||
# source primary-only files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + primary_extension})]
|
||||
elif additional_extension in extensions:
|
||||
# source non-primary files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + additional_extension})]
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def handle_dsv_types_except_source(type_, remainder, prefix):
|
||||
commands = []
|
||||
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
|
||||
try:
|
||||
env_name, value = remainder.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the value')
|
||||
try_prefixed_value = os.path.join(prefix, value) if value else prefix
|
||||
if os.path.exists(try_prefixed_value):
|
||||
value = try_prefixed_value
|
||||
if type_ == DSV_TYPE_SET:
|
||||
commands += _set(env_name, value)
|
||||
elif type_ == DSV_TYPE_SET_IF_UNSET:
|
||||
commands += _set_if_unset(env_name, value)
|
||||
else:
|
||||
assert False
|
||||
elif type_ in (
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
|
||||
):
|
||||
try:
|
||||
env_name_and_values = remainder.split(';')
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the values')
|
||||
env_name = env_name_and_values[0]
|
||||
values = env_name_and_values[1:]
|
||||
for value in values:
|
||||
if not value:
|
||||
value = prefix
|
||||
elif not os.path.isabs(value):
|
||||
value = os.path.join(prefix, value)
|
||||
if (
|
||||
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
|
||||
not os.path.exists(value)
|
||||
):
|
||||
comment = f'skip extending {env_name} with not existing ' \
|
||||
f'path: {value}'
|
||||
if _include_comments():
|
||||
commands.append(
|
||||
FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
|
||||
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
|
||||
commands += _append_unique_value(env_name, value)
|
||||
else:
|
||||
commands += _prepend_unique_value(env_name, value)
|
||||
else:
|
||||
raise RuntimeError(
|
||||
'contains an unknown environment hook type: ' + type_)
|
||||
return commands
|
||||
|
||||
|
||||
env_state = {}
|
||||
|
||||
|
||||
def _append_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# append even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional leading separator
|
||||
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': extend + value})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
def _prepend_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# prepend even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional trailing separator
|
||||
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value + extend})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
# generate commands for removing prepended underscores
|
||||
def _remove_ending_separators():
|
||||
# do nothing if the shell extension does not implement the logic
|
||||
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
|
||||
return []
|
||||
|
||||
global env_state
|
||||
commands = []
|
||||
for name in env_state:
|
||||
# skip variables that already had values before this script started prepending
|
||||
if name in os.environ:
|
||||
continue
|
||||
commands += [
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
|
||||
return commands
|
||||
|
||||
|
||||
def _set(name, value):
|
||||
global env_state
|
||||
env_state[name] = value
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
return [line]
|
||||
|
||||
|
||||
def _set_if_unset(name, value):
|
||||
global env_state
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
if env_state.get(name, os.environ.get(name)):
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
if __name__ == '__main__': # pragma: no cover
|
||||
try:
|
||||
rc = main()
|
||||
except RuntimeError as e:
|
||||
print(str(e), file=sys.stderr)
|
||||
rc = 1
|
||||
sys.exit(rc)
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/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)?$', '', sys.argv[0])
|
||||
sys.exit(load_entry_point('joint-control', 'console_scripts', 'joint_control')())
|
||||
@@ -1,2 +0,0 @@
|
||||
/BA/workspace/src/build/joint_control
|
||||
.
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/build/joint_control/resource/joint_control
|
||||
@@ -1 +0,0 @@
|
||||
osc4py3:trajectory_msgs:xml
|
||||
@@ -1 +0,0 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
@@ -1 +0,0 @@
|
||||
prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
|
||||
@@ -1,31 +0,0 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$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
|
||||
@@ -1,9 +0,0 @@
|
||||
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
|
||||
@@ -1,117 +0,0 @@
|
||||
# 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
|
||||
@@ -1,88 +0,0 @@
|
||||
# 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/src/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
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/build/joint_control/package.xml
|
||||
@@ -1,42 +0,0 @@
|
||||
# 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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/joint_control/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/usr/bin/python3
|
||||
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-info','console_scripts','joint_states_pub'
|
||||
import re
|
||||
import sys
|
||||
|
||||
# for compatibility with easy_install; see #2198
|
||||
__requires__ = 'joint-info'
|
||||
|
||||
try:
|
||||
from importlib.metadata import distribution
|
||||
except ImportError:
|
||||
try:
|
||||
from importlib_metadata import distribution
|
||||
except ImportError:
|
||||
from pkg_resources import load_entry_point
|
||||
|
||||
|
||||
def importlib_load_entry_point(spec, group, name):
|
||||
dist_name, _, _ = spec.partition('==')
|
||||
matches = (
|
||||
entry_point
|
||||
for entry_point in distribution(dist_name).entry_points
|
||||
if entry_point.group == group and entry_point.name == name
|
||||
)
|
||||
return next(matches).load()
|
||||
|
||||
|
||||
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||
sys.exit(load_entry_point('joint-info', 'console_scripts', 'joint_states_pub')())
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/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)?$', '', sys.argv[0])
|
||||
sys.exit(load_entry_point('joint-info', 'console_scripts', 'joint_states_sub')())
|
||||
@@ -1,33 +0,0 @@
|
||||
#!/usr/bin/python3
|
||||
# EASY-INSTALL-ENTRY-SCRIPT: 'joint-info','console_scripts','tcp_cart_pos'
|
||||
import re
|
||||
import sys
|
||||
|
||||
# for compatibility with easy_install; see #2198
|
||||
__requires__ = 'joint-info'
|
||||
|
||||
try:
|
||||
from importlib.metadata import distribution
|
||||
except ImportError:
|
||||
try:
|
||||
from importlib_metadata import distribution
|
||||
except ImportError:
|
||||
from pkg_resources import load_entry_point
|
||||
|
||||
|
||||
def importlib_load_entry_point(spec, group, name):
|
||||
dist_name, _, _ = spec.partition('==')
|
||||
matches = (
|
||||
entry_point
|
||||
for entry_point in distribution(dist_name).entry_points
|
||||
if entry_point.group == group and entry_point.name == name
|
||||
)
|
||||
return next(matches).load()
|
||||
|
||||
|
||||
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||
sys.exit(load_entry_point('joint-info', 'console_scripts', 'tcp_cart_pos')())
|
||||
@@ -1,2 +0,0 @@
|
||||
/BA/workspace/src/build/joint_info
|
||||
.
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/build/joint_info/resource/joint_info
|
||||
@@ -1 +0,0 @@
|
||||
osc4py3:rclpy:roboticstoolbox:sensor_msgs
|
||||
@@ -1 +0,0 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
@@ -1 +0,0 @@
|
||||
prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"
|
||||
@@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
|
||||
@@ -1,31 +0,0 @@
|
||||
# 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_info/package.sh"
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -1,9 +0,0 @@
|
||||
source;share/joint_info/hook/pythonpath.ps1
|
||||
source;share/joint_info/hook/pythonpath.dsv
|
||||
source;share/joint_info/hook/pythonpath.sh
|
||||
source;share/joint_info/hook/ament_prefix_path.ps1
|
||||
source;share/joint_info/hook/ament_prefix_path.dsv
|
||||
source;share/joint_info/hook/ament_prefix_path.sh
|
||||
source;../../build/joint_info/share/joint_info/hook/pythonpath_develop.ps1
|
||||
source;../../build/joint_info/share/joint_info/hook/pythonpath_develop.dsv
|
||||
source;../../build/joint_info/share/joint_info/hook/pythonpath_develop.sh
|
||||
@@ -1,117 +0,0 @@
|
||||
# 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_info/hook/pythonpath.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/joint_info/hook/ament_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\../../build/joint_info/share/joint_info/hook/pythonpath_develop.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@@ -1,88 +0,0 @@
|
||||
# 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/src/install/joint_info"
|
||||
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_info/hook/pythonpath.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/joint_info/hook/ament_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/joint_info/share/joint_info/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
|
||||
@@ -1 +0,0 @@
|
||||
/BA/workspace/src/build/joint_info/package.xml
|
||||
@@ -1,42 +0,0 @@
|
||||
# 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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/joint_info/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -1,121 +0,0 @@
|
||||
# generated from colcon_bash/shell/template/prefix.bash.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# 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_prefix_bash_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
_contained_value=""
|
||||
# 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
|
||||
_contained_value=1
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
if [ -z "$_contained_value" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
if [ "$_all_values" = "$_value" ]; then
|
||||
echo "export $_listname=$_value"
|
||||
else
|
||||
echo "export $_listname=$_value:\$$_listname"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset _contained_value
|
||||
# restore the field separator
|
||||
IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
|
||||
unset _colcon_prefix_bash_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# add this prefix to the COLCON_PREFIX_PATH
|
||||
_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
|
||||
unset _colcon_prefix_bash_prepend_unique_value
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
|
||||
else
|
||||
# try the Python executable known at configure time
|
||||
_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if [ ! -f "$_colcon_python_executable" ]; then
|
||||
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
|
||||
echo "error: unable to find python3 executable"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
|
||||
unset _colcon_python_executable
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "$(declare -f _colcon_prefix_sh_source_script)"
|
||||
echo "# Execute generated script:"
|
||||
echo "# <<<"
|
||||
echo "${_colcon_ordered_commands}"
|
||||
echo "# >>>"
|
||||
echo "unset _colcon_prefix_sh_source_script"
|
||||
fi
|
||||
eval "${_colcon_ordered_commands}"
|
||||
unset _colcon_ordered_commands
|
||||
|
||||
unset _colcon_prefix_sh_source_script
|
||||
|
||||
unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -1,55 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/prefix.ps1.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if ($env:COLCON_PYTHON_EXECUTABLE) {
|
||||
if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
exit 1
|
||||
}
|
||||
$_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
|
||||
} else {
|
||||
# use the Python executable known at configure time
|
||||
$_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
|
||||
if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
|
||||
echo "error: unable to find python3 executable"
|
||||
exit 1
|
||||
}
|
||||
$_colcon_python_executable="python3"
|
||||
}
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
function _colcon_prefix_powershell_source_script {
|
||||
param (
|
||||
$_colcon_prefix_powershell_source_script_param
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_prefix_powershell_source_script_param) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_prefix_powershell_source_script_param'"
|
||||
}
|
||||
. "$_colcon_prefix_powershell_source_script_param"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
|
||||
}
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
|
||||
|
||||
# execute all commands in topological order
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo "Execute generated script:"
|
||||
echo "<<<"
|
||||
$_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
|
||||
echo ">>>"
|
||||
}
|
||||
if ($_colcon_ordered_commands) {
|
||||
$_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
|
||||
}
|
||||
@@ -1,137 +0,0 @@
|
||||
# generated from colcon_core/shell/template/prefix.sh.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/workspace/src/install"
|
||||
if [ -z "$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
|
||||
unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
else
|
||||
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# 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_prefix_sh_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
_contained_value=""
|
||||
# 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
|
||||
_contained_value=1
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
if [ -z "$_contained_value" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
if [ "$_all_values" = "$_value" ]; then
|
||||
echo "export $_listname=$_value"
|
||||
else
|
||||
echo "export $_listname=$_value:\$$_listname"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset _contained_value
|
||||
# restore the field separator
|
||||
IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
|
||||
unset _colcon_prefix_sh_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# add this prefix to the COLCON_PREFIX_PATH
|
||||
_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
|
||||
unset _colcon_prefix_sh_prepend_unique_value
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
|
||||
else
|
||||
# try the Python executable known at configure time
|
||||
_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if [ ! -f "$_colcon_python_executable" ]; then
|
||||
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
|
||||
echo "error: unable to find python3 executable"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
|
||||
unset _colcon_python_executable
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "_colcon_prefix_sh_source_script() {
|
||||
if [ -f \"\$1\" ]; then
|
||||
if [ -n \"\$COLCON_TRACE\" ]; then
|
||||
echo \"# . \\\"\$1\\\"\"
|
||||
fi
|
||||
. \"\$1\"
|
||||
else
|
||||
echo \"not found: \\\"\$1\\\"\" 1>&2
|
||||
fi
|
||||
}"
|
||||
echo "# Execute generated script:"
|
||||
echo "# <<<"
|
||||
echo "${_colcon_ordered_commands}"
|
||||
echo "# >>>"
|
||||
echo "unset _colcon_prefix_sh_source_script"
|
||||
fi
|
||||
eval "${_colcon_ordered_commands}"
|
||||
unset _colcon_ordered_commands
|
||||
|
||||
unset _colcon_prefix_sh_source_script
|
||||
|
||||
unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
|
||||
@@ -1,134 +0,0 @@
|
||||
# generated from colcon_zsh/shell/template/prefix.zsh.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
_colcon_prefix_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# 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_prefix_zsh_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
_contained_value=""
|
||||
# workaround SH_WORD_SPLIT not being set
|
||||
_colcon_prefix_zsh_convert_to_array _values
|
||||
# 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
|
||||
_contained_value=1
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
if [ -z "$_contained_value" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
if [ "$_all_values" = "$_value" ]; then
|
||||
echo "export $_listname=$_value"
|
||||
else
|
||||
echo "export $_listname=$_value:\$$_listname"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset _contained_value
|
||||
# restore the field separator
|
||||
IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
|
||||
unset _colcon_prefix_zsh_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# add this prefix to the COLCON_PREFIX_PATH
|
||||
_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
|
||||
unset _colcon_prefix_zsh_prepend_unique_value
|
||||
unset _colcon_prefix_zsh_convert_to_array
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
|
||||
else
|
||||
# try the Python executable known at configure time
|
||||
_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if [ ! -f "$_colcon_python_executable" ]; then
|
||||
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
|
||||
echo "error: unable to find python3 executable"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
|
||||
unset _colcon_python_executable
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "$(declare -f _colcon_prefix_sh_source_script)"
|
||||
echo "# Execute generated script:"
|
||||
echo "# <<<"
|
||||
echo "${_colcon_ordered_commands}"
|
||||
echo "# >>>"
|
||||
echo "unset _colcon_prefix_sh_source_script"
|
||||
fi
|
||||
eval "${_colcon_ordered_commands}"
|
||||
unset _colcon_ordered_commands
|
||||
|
||||
unset _colcon_prefix_sh_source_script
|
||||
|
||||
unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -1,31 +0,0 @@
|
||||
# generated from colcon_bash/shell/template/prefix_chain.bash.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_chain_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
|
||||
|
||||
# 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)"
|
||||
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
unset _colcon_prefix_chain_bash_source_script
|
||||
@@ -1,29 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
function _colcon_prefix_chain_powershell_source_script {
|
||||
param (
|
||||
$_colcon_prefix_chain_powershell_source_script_param
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
|
||||
}
|
||||
. "$_colcon_prefix_chain_powershell_source_script_param"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
|
||||
}
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\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"
|
||||
@@ -1,45 +0,0 @@
|
||||
# generated from colcon_core/shell/template/prefix_chain.sh.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# 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/workspace/src/install
|
||||
if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_prefix_chain_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_prefix_chain_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_chain_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
|
||||
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
|
||||
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
|
||||
|
||||
unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
|
||||
unset _colcon_prefix_chain_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
@@ -1,31 +0,0 @@
|
||||
# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_chain_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
|
||||
|
||||
# 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)"
|
||||
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
unset _colcon_prefix_chain_zsh_source_script
|
||||
@@ -1,6 +1,5 @@
|
||||
from osc4py3.as_eventloop import *
|
||||
from osc4py3 import oscbuildparse
|
||||
import numpy as np
|
||||
|
||||
def main():
|
||||
# Start the OSC system
|
||||
@@ -9,17 +8,20 @@ def main():
|
||||
# Make client channels to send packets
|
||||
osc_udp_client("127.0.0.1", 8000, "osc_client")
|
||||
|
||||
|
||||
# Example joint positions to send
|
||||
joint_positions = [1.0,2.0, 3.0,4.0, 5.0, 6.0]
|
||||
joint_positions1 = [-0.5,-0.6, 0.2,0.0, 0.0, 0.0]
|
||||
joint_positions2 = [-0.5,-0.6, 0.6,0.0,0.0, 0.0]
|
||||
joint_positions3 = [-0.5,0.6, 0.6,0.0, 0.0, 0.0]
|
||||
joint_positions4 = [-0.5,0.6, 0.2,0.0, 0.0, 0.0]
|
||||
joint_positions5 = [-0.5,-0.6, 0.2,0.0, 0.0, 0.0]
|
||||
|
||||
|
||||
msg = oscbuildparse.OSCMessage("/joint_angles", None, joint_positions)
|
||||
|
||||
# Send the OSC message
|
||||
msg = oscbuildparse.OSCMessage("/joint_trajectory", None, [joint_positions1, joint_positions2, joint_positions3, joint_positions4, joint_positions5])
|
||||
print("Sending joint positions")
|
||||
# Send the OSC message
|
||||
osc_send(msg, "osc_client")
|
||||
print("Sent joint positions")
|
||||
osc_process()
|
||||
|
||||
print(f"Sent joint positions: {joint_positions}")
|
||||
osc_terminate()
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
108
workspace/src/joint_control/joint_control/cart_tcp_server.py
Normal file
108
workspace/src/joint_control/joint_control/cart_tcp_server.py
Normal file
@@ -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()
|
||||
@@ -4,7 +4,6 @@ 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 time
|
||||
|
||||
class ScaledJointTrajectoryPublisher(Node):
|
||||
"""Node to publish joint trajectories based on OSC messages."""
|
||||
@@ -24,7 +23,7 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
|
||||
osc_startup()
|
||||
osc_udp_server("0.0.0.0", 8000, "osc_server")
|
||||
print("Server started on 0.0.0.0:8000 ready to receive messages in the following format: /joint_angles [joint_positions] optional: duration as second argument")
|
||||
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)
|
||||
|
||||
@@ -33,10 +32,10 @@ class ScaledJointTrajectoryPublisher(Node):
|
||||
if len(args) == len(self.joint_positions):
|
||||
self.joint_positions = args
|
||||
self.send_trajectory(self.joint_positions)
|
||||
else:
|
||||
self.joint_positions = args[0]
|
||||
self.send_trajectory(self.joint_positions, args[1])
|
||||
print(f'Duration: {args[1]}')
|
||||
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]}')
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -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", 8000, "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()
|
||||
@@ -22,6 +22,9 @@ setup(
|
||||
entry_points={
|
||||
'console_scripts': [
|
||||
'joint_control = joint_control.joint_angles_server:main',
|
||||
'cart_coords = joint_control.cart_tcp_server:main',
|
||||
'trajectory_server = joint_control.trajectory_server:main',
|
||||
'trajectory_server_cart = joint_control.trajectory_server_cart:main',
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user