diff --git a/osc_recieve.py b/osc_recieve.py index b9ec47e..a01f685 100644 --- a/osc_recieve.py +++ b/osc_recieve.py @@ -2,6 +2,7 @@ from osc4py3.as_eventloop import * from osc4py3 import oscmethod as osm import time def handler(*args): + print('recieved') print(args) osc_startup() diff --git a/test/joint_states_cart_logs/cartesian.csv b/test/joint_states_cart_logs/cartesian.csv index bf268b9..c968fbe 100644 --- a/test/joint_states_cart_logs/cartesian.csv +++ b/test/joint_states_cart_logs/cartesian.csv @@ -3189,3 +3189,20695 @@ timestamp,x,y,z,roll,pitch,yaw 1746007898.760347781,0.30894990758417146,0.30274404025765905,0.9999155391761969,0.029233369313034812,0.059400601911227834,0.07554652127356586 1746007898.762346228,0.3089994612676135,0.30276058302753056,0.9998783807957812,0.029184412528759966,0.05947733939360914,0.07554450139280368 1746007898.764348322,0.3089890405829209,0.30276260422690776,0.9998815136430698,0.029167712823734766,0.05946183097882338,0.07554015262005316 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b/test/joint_trajectories/trajectory_0002.csv @@ -0,0 +1,2 @@ +timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint +1746011502.5537577,-0.2308989147082774,-1.5576496867458662,1.9268478330411956,-1.7397192673604973,-1.7839696265599596,-1.800062792954931 diff --git a/test/joint_trajectories/trajectory_0003.csv b/test/joint_trajectories/trajectory_0003.csv new file mode 100644 index 0000000..8333df9 --- /dev/null +++ b/test/joint_trajectories/trajectory_0003.csv @@ -0,0 +1,2 @@ +timestamp,shoulder_pan_joint,shoulder_lift_joint,elbow_joint,wrist_1_joint,wrist_2_joint,wrist_3_joint +1746011503.7946618,-0.1686252647757187,-1.5472390563625094,1.9591905880121567,-1.8458983617027747,-2.1567869317617543,-1.7676185896498668 diff --git a/test/joint_trajectories/trajectory_0004.csv b/test/joint_trajectories/trajectory_0004.csv new file mode 100644 index 0000000..af0213a --- /dev/null +++ b/test/joint_trajectories/trajectory_0004.csv @@ -0,0 +1,2 @@ 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+1746011533.1355095,0.4117651512087156,0.32432329658904135,0.7837822621834206,0.4189192890305639,0.054053967185446875,0.44594595428888806 +1746011533.13767,0.41017532789440103,0.3243232909068814,0.7837822650719903,0.41891941686407186,0.054053982741013626,0.4459459797315213 +1746011533.139829,0.4085855045878922,0.32432328502953667,0.7837822680046664,0.418919048294228,0.05405406941982729,0.4459459715020369 +1746011533.1419864,0.4069956812244997,0.3243232793969047,0.7837822708929729,0.41891917925855926,0.05405408533160594,0.44594599747635805 +1746011533.144142,0.4054058578692489,0.32432327356954554,0.7837822738253393,0.41891931182272635,0.05405410142575136,0.4459460237215898 diff --git a/workspace/build/joint_control/build/lib/joint_control/plugdata.py b/workspace/build/joint_control/build/lib/joint_control/plugdata.py new file mode 100644 index 0000000..accb35d --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/plugdata.py @@ -0,0 +1,209 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import time +import numpy as np +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + else: + print("Invalid input. Please enter 'y' or 'n'.") + except ValueError: + print("Invalid input. Please enter numeric values only.") + + # Ask the user if they want to set new joint limits + update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + for joint_name in self.joint_names: + while True: + try: + print(f"Current position limits for joint '{joint_name}': {self.robot.links[joint_name]} rad") + lower_limit = input(f"Enter the new lower limit for joint '{joint_name}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{joint_name}' (or press Enter to keep current): ").strip() + + if lower_limit is not None and upper_limit is not None and lower_limit >= upper_limit: + print("Invalid input. Lower limit must be less than upper limit.") + continue + + if lower_limit: + self.robot.links[joint_name][0] = float(lower_limit) + if upper_limit: + self.robot.links[joint_name][1] = float(upper_limit) + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + def joint_angles_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + + x, y, z, r, p, yaw, *_ = [float(i) for i in list(args)] + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired_joint_positions = [x, y, z, r, p, yaw] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_names = msg.name # List of joint names + joint_position_dict = dict(zip(joint_names, self.current_joint_positions)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + + def update_position(self): + time1 = time.time() + if self.desired_joint_positions == self.previous_desired: + return + duration = 0 + for p1, p2, max_vel in zip(self.desired_joint_positions, self.current_joint_positions, self.joint_velocity_limits.values()): + duration = max(max(duration, abs(p1 - p2) / max_vel),1/self.hz)# as minimun + duration *= 1.8 + #print(f"Duration: {duration}") + #print(f'vel: {max(np.array(self.desired_joint_positions_joint_positions) - np.array(self.joint_positions)/duration)}') + msg = JointTrajectory() + msg.joint_names = self.joint_names + point = JointTrajectoryPoint() + point.positions = self.desired_joint_positions # Updated joint positions + point.time_from_start.sec = int(duration) + #point.time_from_start.sec = 10 + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + #point.time_from_start.nanosec = 0 + #point.velocities = [i*0.95 for i in self.joint_velocity_limits.values()] + msg.points.append(point) + self.publisher.publish(msg) + #print(f"desired: {self.desired_joint_positions}") + #print(f"desired: {[180/3.141*i for i in self.desired_joint_positions]}") + #print(f"current: {[180/3.141*i for i in self.current_joint_positions]}") + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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'] + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py b/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py new file mode 100644 index 0000000..4b1bdd5 --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py @@ -0,0 +1,158 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import time +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + self.robot = robot + self.cost_mask = cost_mask + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + self.desired_joint_positions = [float(i) for i in list(args)] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + + + def update_position(self): + if self.desired_joint_positions == self.previous_desired: + return + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 30 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + T1 = self.robot.fkine(self.current_joint_positions) + [x,y,z] = T1.t + [roll, pitch, yaw] = T1.rpy() + x1, y1, z1, roll1, pitch1, yaw1 = self.desired_joint_positions + steps = int(np.linalg.norm(np.array([x1-x, y1-y, z1-z])) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + for j in range(steps): + print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + #duration *= 2 + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: + print('IK could not find a solution!') + prev_sol = self.current_joint_positions + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + robot_urdf = input("Enter the path to the URDF file: ") + tree = ET.parse(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(robot_urdf) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py b/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py new file mode 100644 index 0000000..a045cce --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py @@ -0,0 +1,264 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + self.robot = robot + self.cost_mask = cost_mask + self.prev_pose = None + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower() + if set_limits == 'y': + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + con = True + while con: + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + con = False + else: + print("Invalid input. Please enter 'y' or 'n'.") + if con: break + except ValueError: + print("Invalid input. Please enter numeric values only.") + + # Ask the user if they want to set new joint limits + update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + for i in range(len(self.joint_names)): + while True: + try: + lim = self.robot.qlim.copy() + # Find the link corresponding to the joint name + print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + + if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit): + print("Invalid input. Lower limit must be less than upper limit.") + continue + + if lower_limit: + lim[0][i] = float(lower_limit) + if upper_limit: + lim[1][i] = float(upper_limit) + self.robot.qlim = lim + print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + print("-" * 50) + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + def joint_angles_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + print("received joint angles") + x, y, z, r, p, yaw, *_ = [float(i) for i in list(args)] + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired_joint_positions = [x, y, z, r, p, yaw] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_position_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_position_dict[name] for name in self.joint_names] + + def update_position(self): + if self.desired_joint_positions == self.previous_desired: + return + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 100 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + if self.prev_pose == None: + [x,y,z] = self.robot.fkine(self.current_joint_positions).t + [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy() + else: + [x,y,z] = self.prev_pose[:3] + [roll, pitch, yaw] = self.prev_pose[3:] + x1, y1, z1, roll1, pitch1, yaw1 = self.desired_joint_positions + self.prev_pose = self.desired_joint_positions + steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan') + if sol[1] == 1: + fowards = self.robot.fkine_all(sol[0]) + out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False) + if np.any(out_of_bounds): + #print(fowards.t) + #indices = np.where(out_of_bounds)[0] + #print(f"indices: {indices}") + self.get_logger().warn("One or more links moved out of bounds!") + ''' + for i in indices: + try: + print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}") + except IndexError: + print(f"index {i} is out of bounds, but no corresponding joint found.") + self.previous_desired = self.desired_joint_positions + ''' + break + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + prev_sol = list(sol[0]) + if duration == 0: + continue + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration *= 2 + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + else: + print(f'IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!') + prev_sol = self.current_joint_positions + if len(msg.points) == 0: + return + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + robot_urdf = input("Enter the path to the URDF file: ") + tree = ET.parse(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(robot_urdf) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py b/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py new file mode 100644 index 0000000..15461c3 --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py @@ -0,0 +1,232 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import time +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + self.robot = robot + self.cost_mask = cost_mask + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + else: + print("Invalid input. Please enter 'y' or 'n'.") + except ValueError: + print("Invalid input. Please enter numeric values only.") + + def joint_angles_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + + x, y, z, r, p, yaw, *_ = [float(i) for i in list(args)] + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired_joint_positions = [x, y, z, r, p, yaw] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + + def rampfunction(self, startvalue, blendtime, currenttime): + """ + Ramp function to create a smooth transition from startvalue to 1 over blendtime seconds. + """ + if currenttime < blendtime: + return startvalue + (1 - startvalue) * (currenttime / blendtime) + else: + return 1 + + def update_position(self): + if self.desired_joint_positions == self.previous_desired: + return + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 30 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + T1 = self.robot.fkine(self.current_joint_positions) + [x,y,z] = T1.t + [roll, pitch, yaw] = T1.rpy() + x1, y1, z1, roll1, pitch1, yaw1 = self.desired_joint_positions + steps = int(np.linalg.norm(np.array([x1-x, y1-y, z1-z])) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration /= self.rampfunction(0.1, 2, prev_duration) + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: + print(f'IK could not find a solution for (x,y,z) = ({cart_traj[j].t}), (roll,pitch,yaw) = ({cart_traj[j].rpy()})!') + prev_sol = self.current_joint_positions + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotation.") + while True: + try: + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + considered_coords = [coord for coord, use in zip(['x', 'y', 'z', 'roll', 'pitch', 'yaw'], cost_mask) if use == 1] + print(f"The following coordinates will be considered for IK: {', '.join(considered_coords)}") + confirm = input("Are you sure you want to proceed with this cost mask? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the cost mask.") + else: + print("Invalid input. Please enter 'y' or 'n'.") + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/build/joint_control/build/lib/joint_control/test.py b/workspace/build/joint_control/build/lib/joint_control/test.py new file mode 100644 index 0000000..13b5da5 --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/test.py @@ -0,0 +1,36 @@ +import numpy as np +from roboticstoolbox.tools.trajectory import mstraj + +# Define via points (each row is a joint configuration) +viapoints = np.array([ + [0, 0, 0], # Start + [0.5, 0.2, -0.1], # Intermediate + [1.0, 0.4, 0.2] # End +]) + +# Time step +dt = 0.01 # seconds + +# Acceleration time +tacc = 0.2 # seconds + +# Maximum joint velocity per joint (same length as number of joints) +qdmax = [0.5, 0.3, 0.4] # radians per second + +# Optional: starting position (otherwise uses first viapoint) +q0 = viapoints[0] + +# Generate the trajectory +traj = mstraj( + viapoints=viapoints, + dt=dt, + tacc=tacc, + qdmax=qdmax, +) + +# Extract trajectory +time = traj.t # Time vector +positions = traj.q # Joint angles (shape: K x N) + +print("Time vector:", time) +print("Joint positions:\n", positions) \ No newline at end of file diff --git a/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py new file mode 100644 index 0000000..05a3c8e --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py @@ -0,0 +1,141 @@ +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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps = 50 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = [0.0,0.0,0.0,0.0,0.0,0.0] if i == 0 else sol[0] + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + if list(sol[0])==list(prev_sol): continue + duration = 0 + for p1, p2, max_vel in zip(sol[0], prev_sol, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration *= 1.6 + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py new file mode 100644 index 0000000..757b29d --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py @@ -0,0 +1,166 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + + + + self.maximum_acceleration = [0.0] * len(joint_names) + # Store received joint positions + self.joint_names = joint_names + for joint in joint_names: + self.maximum_acceleration[joint_names.index(joint)] = float(input(f"Enter the maximum acceleration for joint {joint}: ")) + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps = 50 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = self.current_joint_positions if i == 0 else sol[0] + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + if list(sol[0])==list(prev_sol): continue + duration = 0 + for i, (p1, p2, max_vel) in enumerate(zip(sol[0], prev_sol, self.joint_velocity_limits.values())): + print(f'joint {i}, p1: {p1}, p2: {p2}, max_vel: {max_vel}') + if len(msg.points) == 0: v = self.current_joint_velocities[i] + max_acc_duration = np.sqrt((v/self.maximum_acceleration[i])**2 + 2*(abs(p1 - p2)/self.maximum_acceleration[i]))- v/self.maximum_acceleration[i] + duration = max(duration, abs(p1 - p2) / max_vel, max_acc_duration) # as minimun + v = abs(p1 - p2) / duration + print(f'duration: {duration}, max_acc_duration: {max_acc_duration}, max_vel_duration: { abs(p1 - p2) / max_vel}, v: {v}') + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py new file mode 100644 index 0000000..9e9b64b --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py @@ -0,0 +1,152 @@ +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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def rampfunction(self, startvalue, blendtime, currenttime): + """ + Ramp function to create a smooth transition from startvalue to 1 over blendtime seconds. + """ + if currenttime < blendtime: + return startvalue + (1 - startvalue) * (currenttime / blendtime) + else: + return 1 + + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps = 50 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = [0.0,0.0,0.0,0.0,0.0,0.0] if i == 0 else sol[0] + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + if list(sol[0])==list(prev_sol): continue + duration = 0 + for p1, p2, max_vel in zip(sol[0], prev_sol, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration /= self.rampfunction(0.1, 2, prev_duration) + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py new file mode 100644 index 0000000..bcdeb07 --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py @@ -0,0 +1,166 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = [joint_velocity_limits[joint] for joint in joint_names] + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + print("Received joint positions") + viapoints = [] + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 4 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + steps = int(np.linalg.norm(np.array([x1-x, y1-y, z1-z])) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + if i == 0: prev_sol = self.current_joint_positions + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + viapoints.append(list(sol[0])) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + dt = 0.01 + tacc = 0.5 + print(f'length viapoints: {len(viapoints)}') + traj = rtb.mstraj(np.array(viapoints), q0 = self.current_joint_positions ,dt=dt, tacc=tacc, qdmax=[1 * i for i in self.joint_velocity_limits]) + print(len(traj.q)) + print(len(traj.t)) + print(traj.t) + print(traj.arrive) + msg.points = [] + for i in range(len(traj.q)): + point = JointTrajectoryPoint() + point.positions = list(traj.q[i]) + point.time_from_start.sec = int(traj.t[i]) + point.time_from_start.nanosec = int(((traj.t[i] - int(traj.t[i])) * 1e9)) + #point.time_from_start = rclpy.duration.Duration(seconds=traj.t[i]).to_msg() + msg.points.append(point) + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + print('published') + except Exception as e: + print(f'Error in joint angles handler: {e}') + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py new file mode 100644 index 0000000..9c8a5fc --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py @@ -0,0 +1,180 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + print(f"Using topic name: {self.trajectroy_topic_name}") + print("--------------------------------------------------------------------------------------------------------------------------------") + while True: + try: + self.speed = input("Enter your desired speed of the tcp (in m/s): ") + if self.speed == '': + self.speed = 1 + else: + self.speed = float(self.speed) + break + except ValueError: + print("Invalid input. Please enter a number.") + continue + while True: + try: + self.t_acc = input("Enter how fast you want the tcp to reach that velocity (in s). \nRemember! If the acceleration time is to short the robot might not be able to accelerate fast enough: ") + if self.t_acc == '': + self.t_acc = 2 + else: + self.t_acc = float(self.t_acc) + break + except ValueError: + print("Invalid input. Please enter a number.") + continue + + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + print("Received joint positions") + viapoints = np.array([list(i) for i in args]) + msg = JointTrajectory() + msg.joint_names = self.joint_names + x,y,z = self.robot.fkine(self.current_joint_positions).t + r,p,yaw = self.robot.fkine(self.current_joint_positions).rpy() + q0 = [x, y, z, r, p, yaw] + traj = rtb.mstraj(viapoints, q0 = q0 ,dt=0.01, tacc=self.t_acc, qdmax=self.speed) + msg.points = [] + prev_sol = self.current_joint_positions + for i in range(len(traj.q)): + T = sm.SE3(traj.q[i][:3]) * sm.SE3.RPY(traj.q[i][3:], order='xyz') + sol = self.robot.ik_LM(T, q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + point.time_from_start.sec = int(traj.t[i]) + point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + print(f'lenght msg.points: {len(msg.points)}') + + print('published') + except Exception as e: + print(f'Error in joint_angles_handler: {e}') + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + print("--------------------------------------------------------------------------------------------------------------------------------") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + print("--------------------------------------------------------------------------------------------------------------------------------") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py new file mode 100644 index 0000000..ed76f55 --- /dev/null +++ b/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py @@ -0,0 +1,185 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = [joint_velocity_limits[joint] for joint in joint_names] + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + + + + self.maximum_acceleration = [0.0] * len(joint_names) + # Store received joint positions + self.joint_names = joint_names + for joint in joint_names: + self.maximum_acceleration[joint_names.index(joint)] = float(input(f"Enter the maximum acceleration for joint {joint}: ")) + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 50 + + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + steps = int(np.linalg.norm([x1-x, y1-y, z1-z])*steps_per_m) + if steps <= 1: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = self.current_joint_positions if i == 0 else sol[0] + sol_set = [] + for j in (range(steps) if i == 0 else range(1,steps)): + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + sol_set.append(sol[0]) + prev_sol = list(sol[0]) + else: print(f'IK could not find a solution for (x,y,z) = ({cart_traj[j].t}), (roll,pitch,yaw) = ({cart_traj[j].rpy()})!') + distance = abs(sol_set[0]-sol_set[-1]) + ts= distance/np.array(self.joint_velocity_limits)+2*np.array(self.joint_velocity_limits)/np.array(self.maximum_acceleration) + t = max(ts) + idx = list(ts).index(t) + s_acc = self.joint_velocity_limits[idx]**2/(2*self.maximum_acceleration[idx]) + print(f"t: {t}, idx: {idx}, s_acc: {s_acc}") + print(f"sol_set: {sol_set}") + + for sol in sol_set: + print(f"sol: {sol}") + s = abs(sol[idx]-sol_set[0][idx]) + print(f"sol_set[0][idx]: {sol_set[0][idx]}, sol[idx]: {sol[idx]}, s: {s}") + if s <= s_acc: + duration = np.sqrt(s/self.maximum_acceleration[idx]) + print(f"acceleration phase, duration: {duration}") + elif s <= sol_set[-1][idx]-s_acc: + duration = self.joint_velocity_limits[idx]/self.maximum_acceleration[idx] + (s-s_acc)/self.joint_velocity_limits[idx] + print(f"constant velocity phase, duration: {duration}") + else: + duration = t-np.sqrt((sol_set[-1][idx]-s)/self.maximum_acceleration[idx]) + print(f"deceleration phase, duration: {duration}") + + point = JointTrajectoryPoint() + point.positions = list(sol) + duration += prev_duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_duration = duration + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + except Exception as e: + print(f"Error in joint angles handler: {e}") + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/build/joint_control/colcon_build.rc b/workspace/build/joint_control/colcon_build.rc index 573541a..d00491f 100644 --- a/workspace/build/joint_control/colcon_build.rc +++ b/workspace/build/joint_control/colcon_build.rc @@ -1 +1 @@ -0 +1 diff --git a/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env b/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env index bfdd302..7879e7a 100644 --- a/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env +++ b/workspace/build/joint_control/colcon_command_prefix_setup_py.sh.env @@ -1,16 +1,15 @@ -AMENT_PREFIX_PATH=/BA/workspace/install/painting_robot_control:/BA/workspace/install/mock_robot:/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/opt/ros/humble +AMENT_PREFIX_PATH=/opt/ros/humble COLCON=1 -COLCON_PREFIX_PATH=/BA/workspace/install HOME=/root -HOSTNAME=0e38e264ac6b +HOSTNAME=hapticslab2 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/src/joint_control/joint_control +OLDPWD=/ws/src/ba-alexanderschaefer PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin -PWD=/BA/workspace/build/joint_control -PYTHONPATH=/BA/workspace/build/painting_robot_control:/BA/workspace/install/painting_robot_control/lib/python3.10/site-packages:/BA/workspace/build/mock_robot:/BA/workspace/install/mock_robot/lib/python3.10/site-packages:/BA/workspace/build/joint_info:/BA/workspace/install/joint_info/lib/python3.10/site-packages:/BA/workspace/build/joint_control:/BA/workspace/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 +PWD=/ws/src/ba-alexanderschaefer/workspace/build/joint_control +PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages ROS_DISTRO=humble ROS_LOCALHOST_ONLY=0 ROS_PYTHON_VERSION=3 diff --git a/workspace/build/joint_control/joint_control b/workspace/build/joint_control/joint_control index b240854..5748b82 120000 --- a/workspace/build/joint_control/joint_control +++ b/workspace/build/joint_control/joint_control @@ -1 +1 @@ -/BA/workspace/src/joint_control/joint_control \ No newline at end of file +/ws/src/ba-alexanderschaefer/workspace/src/joint_control/joint_control \ No newline at end of file diff --git a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt index a1b91c4..685413a 100644 --- a/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt +++ b/workspace/build/joint_control/joint_control.egg-info/SOURCES.txt @@ -24,11 +24,7 @@ joint_control/trajectory_server_cart_fast_smooth.py joint_control/trajectory_server_new.py joint_control/trajectory_server_new_cart.py joint_control/trajectory_server_trapezoidal.py -joint_control.egg-info/PKG-INFO -joint_control.egg-info/SOURCES.txt -joint_control.egg-info/dependency_links.txt -joint_control.egg-info/entry_points.txt -joint_control.egg-info/requires.txt -joint_control.egg-info/top_level.txt -joint_control.egg-info/zip-safe -resource/joint_control \ No newline at end of file +resource/joint_control +test/test_copyright.py +test/test_flake8.py +test/test_pep257.py \ No newline at end of file diff --git a/workspace/build/joint_control/package.xml b/workspace/build/joint_control/package.xml index d969f86..cb45fa7 120000 --- a/workspace/build/joint_control/package.xml +++ b/workspace/build/joint_control/package.xml @@ -1 +1 @@ -/BA/workspace/src/joint_control/package.xml \ No newline at end of file +/ws/src/ba-alexanderschaefer/workspace/src/joint_control/package.xml \ No newline at end of file diff --git a/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc index 134ad91..9040fe2 100644 Binary files a/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc and b/workspace/build/joint_control/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ diff --git a/workspace/build/joint_control/prefix_override/sitecustomize.py b/workspace/build/joint_control/prefix_override/sitecustomize.py index 448760e..1a8f78d 100644 --- a/workspace/build/joint_control/prefix_override/sitecustomize.py +++ b/workspace/build/joint_control/prefix_override/sitecustomize.py @@ -1,4 +1,4 @@ import sys if sys.prefix == '/usr': sys.real_prefix = sys.prefix - sys.prefix = sys.exec_prefix = '/BA/workspace/install/joint_control' + sys.prefix = sys.exec_prefix = '/ws/src/ba-alexanderschaefer/workspace/install/joint_control' diff --git a/workspace/build/joint_control/resource/joint_control b/workspace/build/joint_control/resource/joint_control index 6d69895..266b549 120000 --- a/workspace/build/joint_control/resource/joint_control +++ b/workspace/build/joint_control/resource/joint_control @@ -1 +1 @@ -/BA/workspace/src/joint_control/resource/joint_control \ No newline at end of file +/ws/src/ba-alexanderschaefer/workspace/src/joint_control/resource/joint_control \ No newline at end of file diff --git a/workspace/build/joint_control/setup.cfg b/workspace/build/joint_control/setup.cfg index 02d5e38..21539b8 120000 --- a/workspace/build/joint_control/setup.cfg +++ b/workspace/build/joint_control/setup.cfg @@ -1 +1 @@ -/BA/workspace/src/joint_control/setup.cfg \ No newline at end of file +/ws/src/ba-alexanderschaefer/workspace/src/joint_control/setup.cfg \ No newline at end of file diff --git a/workspace/build/joint_control/setup.py b/workspace/build/joint_control/setup.py deleted file mode 120000 index a85566e..0000000 --- a/workspace/build/joint_control/setup.py +++ /dev/null @@ -1 +0,0 @@ -/BA/workspace/src/joint_control/setup.py \ No newline at end of file diff --git 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-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() \ No newline at end of file diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py new file mode 100644 index 0000000..c5a7733 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py @@ -0,0 +1,80 @@ +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 = [0.0] * len(joint_names) + 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 \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) + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + if len(args) == len(self.joint_positions): + self.joint_positions = args + self.send_trajectory(self.joint_positions) + 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]}') + + + + def send_trajectory(self, joint_positions, duration=3.0): + """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: {self.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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py new file mode 100644 index 0000000..accb35d --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py @@ -0,0 +1,209 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import time +import numpy as np +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + else: + print("Invalid input. Please enter 'y' or 'n'.") + except ValueError: + print("Invalid input. Please enter numeric values only.") + + # Ask the user if they want to set new joint limits + update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + for joint_name in self.joint_names: + while True: + try: + print(f"Current position limits for joint '{joint_name}': {self.robot.links[joint_name]} rad") + lower_limit = input(f"Enter the new lower limit for joint '{joint_name}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{joint_name}' (or press Enter to keep current): ").strip() + + if lower_limit is not None and upper_limit is not None and lower_limit >= upper_limit: + print("Invalid input. Lower limit must be less than upper limit.") + continue + + if lower_limit: + self.robot.links[joint_name][0] = float(lower_limit) + if upper_limit: + self.robot.links[joint_name][1] = float(upper_limit) + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + def joint_angles_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + + x, y, z, r, p, yaw, *_ = [float(i) for i in list(args)] + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired_joint_positions = [x, y, z, r, p, yaw] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_names = msg.name # List of joint names + joint_position_dict = dict(zip(joint_names, self.current_joint_positions)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + + def update_position(self): + time1 = time.time() + if self.desired_joint_positions == self.previous_desired: + return + duration = 0 + for p1, p2, max_vel in zip(self.desired_joint_positions, self.current_joint_positions, self.joint_velocity_limits.values()): + duration = max(max(duration, abs(p1 - p2) / max_vel),1/self.hz)# as minimun + duration *= 1.8 + #print(f"Duration: {duration}") + #print(f'vel: {max(np.array(self.desired_joint_positions_joint_positions) - np.array(self.joint_positions)/duration)}') + msg = JointTrajectory() + msg.joint_names = self.joint_names + point = JointTrajectoryPoint() + point.positions = self.desired_joint_positions # Updated joint positions + point.time_from_start.sec = int(duration) + #point.time_from_start.sec = 10 + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + #point.time_from_start.nanosec = 0 + #point.velocities = [i*0.95 for i in self.joint_velocity_limits.values()] + msg.points.append(point) + self.publisher.publish(msg) + #print(f"desired: {self.desired_joint_positions}") + #print(f"desired: {[180/3.141*i for i in self.desired_joint_positions]}") + #print(f"current: {[180/3.141*i for i in self.current_joint_positions]}") + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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'] + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py new file mode 100644 index 0000000..4b1bdd5 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py @@ -0,0 +1,158 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import time +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + self.robot = robot + self.cost_mask = cost_mask + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + self.desired_joint_positions = [float(i) for i in list(args)] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + + + def update_position(self): + if self.desired_joint_positions == self.previous_desired: + return + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 30 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + T1 = self.robot.fkine(self.current_joint_positions) + [x,y,z] = T1.t + [roll, pitch, yaw] = T1.rpy() + x1, y1, z1, roll1, pitch1, yaw1 = self.desired_joint_positions + steps = int(np.linalg.norm(np.array([x1-x, y1-y, z1-z])) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + for j in range(steps): + print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + #duration *= 2 + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: + print('IK could not find a solution!') + prev_sol = self.current_joint_positions + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + robot_urdf = input("Enter the path to the URDF file: ") + tree = ET.parse(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(robot_urdf) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py new file mode 100644 index 0000000..a045cce --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py @@ -0,0 +1,264 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + self.robot = robot + self.cost_mask = cost_mask + self.prev_pose = None + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower() + if set_limits == 'y': + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + con = True + while con: + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + con = False + else: + print("Invalid input. Please enter 'y' or 'n'.") + if con: break + except ValueError: + print("Invalid input. Please enter numeric values only.") + + # Ask the user if they want to set new joint limits + update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower() + if update_limits == 'y': + for i in range(len(self.joint_names)): + while True: + try: + lim = self.robot.qlim.copy() + # Find the link corresponding to the joint name + print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip() + + if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit): + print("Invalid input. Lower limit must be less than upper limit.") + continue + + if lower_limit: + lim[0][i] = float(lower_limit) + if upper_limit: + lim[1][i] = float(upper_limit) + self.robot.qlim = lim + print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad") + print("-" * 50) + break + except ValueError: + print("Invalid input. Please enter numeric values or leave blank to keep current limits.") + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + def joint_angles_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + print("received joint angles") + x, y, z, r, p, yaw, *_ = [float(i) for i in list(args)] + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired_joint_positions = [x, y, z, r, p, yaw] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_position_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_position_dict[name] for name in self.joint_names] + + def update_position(self): + if self.desired_joint_positions == self.previous_desired: + return + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 100 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + if self.prev_pose == None: + [x,y,z] = self.robot.fkine(self.current_joint_positions).t + [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy() + else: + [x,y,z] = self.prev_pose[:3] + [roll, pitch, yaw] = self.prev_pose[3:] + x1, y1, z1, roll1, pitch1, yaw1 = self.desired_joint_positions + self.prev_pose = self.desired_joint_positions + steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan') + if sol[1] == 1: + fowards = self.robot.fkine_all(sol[0]) + out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False) + if np.any(out_of_bounds): + #print(fowards.t) + #indices = np.where(out_of_bounds)[0] + #print(f"indices: {indices}") + self.get_logger().warn("One or more links moved out of bounds!") + ''' + for i in indices: + try: + print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}") + except IndexError: + print(f"index {i} is out of bounds, but no corresponding joint found.") + self.previous_desired = self.desired_joint_positions + ''' + break + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + prev_sol = list(sol[0]) + if duration == 0: + continue + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration *= 2 + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + else: + print(f'IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!') + prev_sol = self.current_joint_positions + if len(msg.points) == 0: + return + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + robot_urdf = input("Enter the path to the URDF file: ") + tree = ET.parse(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(robot_urdf) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py new file mode 100644 index 0000000..15461c3 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py @@ -0,0 +1,232 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads import * +from osc4py3 import oscmethod as osm +import xml.etree.ElementTree as ET +import time +import numpy as np +import spatialmath as sm +import roboticstoolbox as rtb +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + + def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask): + super().__init__('scaled_joint_trajectory_publisher') + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + '/scaled_joint_trajectory_controller/joint_trajectory', + 1 + ) + + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + # Store received joint positions + self.current_joint_positions = [0.0] * len(joint_names) + self.joint_names = joint_names + self.joint_velocity_limits = joint_velocity_limits + self.desired_joint_positions = [0.0] * len(joint_names) + self.previous_desired = [0.0] * len(joint_names) + self.robot = robot + self.cost_mask = cost_mask + + ip = "0.0.0.0" # Listen on all network interfaces + port = 8000 # Must match the sender's port in `joint_state_osc.py` + + osc_startup() + osc_udp_server(ip, port, "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) + + + self.hz = float(input("Enter the desired refresh frequency (Hz): ")) + # Start the OSC server in a separate thread to avoid blocking the ROS 2 event loop + self.create_timer(1/self.hz, self.update_position) # Timer to call osc_process periodically + + while True: + try: + self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()] + self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()] + self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()] + + if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2: + print("Invalid input. Please enter exactly two values (or leave blank) for each limit.") + continue + + if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \ + (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \ + (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]): + print("Invalid input. Lower limit must be less than upper limit for each axis.") + continue + + print(f"Current limits:") + print(f"x: {self.x_limits}") + print(f"y: {self.y_limits}") + print(f"z: {self.z_limits}") + confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the limits.") + else: + print("Invalid input. Please enter 'y' or 'n'.") + except ValueError: + print("Invalid input. Please enter numeric values only.") + + def joint_angles_handler(self, *args): + # Ensure the desired joint positions are within the specified limits + + x, y, z, r, p, yaw, *_ = [float(i) for i in list(args)] + if self.x_limits[0] is not None: + x = max(self.x_limits[0], x) + if self.x_limits[1] is not None: + x = min(self.x_limits[1], x) + if self.y_limits[0] is not None: + y = max(self.y_limits[0], y) + if self.y_limits[1] is not None: + y = min(self.y_limits[1], y) + if self.z_limits[0] is not None: + z = max(self.z_limits[0], z) + if self.z_limits[1] is not None: + z = min(self.z_limits[1], z) + + if x != args[0] or y != args[1] or z != args[2]: + self.get_logger().warn( + f"Desired joint positions adjusted to fit within limits: " + f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})" + ) + + self.desired_joint_positions = [x, y, z, r, p, yaw] + + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + + def rampfunction(self, startvalue, blendtime, currenttime): + """ + Ramp function to create a smooth transition from startvalue to 1 over blendtime seconds. + """ + if currenttime < blendtime: + return startvalue + (1 - startvalue) * (currenttime / blendtime) + else: + return 1 + + def update_position(self): + if self.desired_joint_positions == self.previous_desired: + return + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 30 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + T1 = self.robot.fkine(self.current_joint_positions) + [x,y,z] = T1.t + [roll, pitch, yaw] = T1.rpy() + x1, y1, z1, roll1, pitch1, yaw1 = self.desired_joint_positions + steps = int(np.linalg.norm(np.array([x1-x, y1-y, z1-z])) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)] + for j in range(steps): + sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + duration = 0 + prev = self.current_joint_positions if j == 0 else prev_sol + for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration /= self.rampfunction(0.1, 2, prev_duration) + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: + print(f'IK could not find a solution for (x,y,z) = ({cart_traj[j].t}), (roll,pitch,yaw) = ({cart_traj[j].rpy()})!') + prev_sol = self.current_joint_positions + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + self.previous_desired = self.desired_joint_positions + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotation.") + while True: + try: + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + considered_coords = [coord for coord, use in zip(['x', 'y', 'z', 'roll', 'pitch', 'yaw'], cost_mask) if use == 1] + print(f"The following coordinates will be considered for IK: {', '.join(considered_coords)}") + confirm = input("Are you sure you want to proceed with this cost mask? (y/n): ").strip().lower() + if confirm == 'y': + break + elif confirm == 'n': + print("Please re-enter the cost mask.") + else: + print("Invalid input. Please enter 'y' or 'n'.") + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + + rclpy.init() + + node = ScaledJointTrajectoryPublisher(joint_names, joint_velocity_limits, robot, cost_mask) + + # Run ROS 2 spin, and osc_process will be handled by the timer + try: + rclpy.spin(node) + except KeyboardInterrupt: + print("") + finally: + node.destroy_node() + rclpy.shutdown() + osc_terminate() + +if __name__ == '__main__': + main() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py new file mode 100644 index 0000000..13b5da5 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py @@ -0,0 +1,36 @@ +import numpy as np +from roboticstoolbox.tools.trajectory import mstraj + +# Define via points (each row is a joint configuration) +viapoints = np.array([ + [0, 0, 0], # Start + [0.5, 0.2, -0.1], # Intermediate + [1.0, 0.4, 0.2] # End +]) + +# Time step +dt = 0.01 # seconds + +# Acceleration time +tacc = 0.2 # seconds + +# Maximum joint velocity per joint (same length as number of joints) +qdmax = [0.5, 0.3, 0.4] # radians per second + +# Optional: starting position (otherwise uses first viapoint) +q0 = viapoints[0] + +# Generate the trajectory +traj = mstraj( + viapoints=viapoints, + dt=dt, + tacc=tacc, + qdmax=qdmax, +) + +# Extract trajectory +time = traj.t # Time vector +positions = traj.q # Joint angles (shape: K x N) + +print("Time vector:", time) +print("Joint positions:\n", positions) \ No newline at end of file diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py new file mode 100644 index 0000000..6636b08 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py @@ -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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py new file mode 100644 index 0000000..eaf11e0 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py @@ -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", 6080, "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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py new file mode 100644 index 0000000..05a3c8e --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py @@ -0,0 +1,141 @@ +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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps = 50 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = [0.0,0.0,0.0,0.0,0.0,0.0] if i == 0 else sol[0] + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + if list(sol[0])==list(prev_sol): continue + duration = 0 + for p1, p2, max_vel in zip(sol[0], prev_sol, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration *= 1.6 + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py new file mode 100644 index 0000000..757b29d --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py @@ -0,0 +1,166 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + + + + self.maximum_acceleration = [0.0] * len(joint_names) + # Store received joint positions + self.joint_names = joint_names + for joint in joint_names: + self.maximum_acceleration[joint_names.index(joint)] = float(input(f"Enter the maximum acceleration for joint {joint}: ")) + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps = 50 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = self.current_joint_positions if i == 0 else sol[0] + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + if list(sol[0])==list(prev_sol): continue + duration = 0 + for i, (p1, p2, max_vel) in enumerate(zip(sol[0], prev_sol, self.joint_velocity_limits.values())): + print(f'joint {i}, p1: {p1}, p2: {p2}, max_vel: {max_vel}') + if len(msg.points) == 0: v = self.current_joint_velocities[i] + max_acc_duration = np.sqrt((v/self.maximum_acceleration[i])**2 + 2*(abs(p1 - p2)/self.maximum_acceleration[i]))- v/self.maximum_acceleration[i] + duration = max(duration, abs(p1 - p2) / max_vel, max_acc_duration) # as minimun + v = abs(p1 - p2) / duration + print(f'duration: {duration}, max_acc_duration: {max_acc_duration}, max_vel_duration: { abs(p1 - p2) / max_vel}, v: {v}') + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py new file mode 100644 index 0000000..9e9b64b --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py @@ -0,0 +1,152 @@ +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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def rampfunction(self, startvalue, blendtime, currenttime): + """ + Ramp function to create a smooth transition from startvalue to 1 over blendtime seconds. + """ + if currenttime < blendtime: + return startvalue + (1 - startvalue) * (currenttime / blendtime) + else: + return 1 + + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps = 50 + if True: #len(args[0]) == len(self.joint_names): + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = [0.0,0.0,0.0,0.0,0.0,0.0] if i == 0 else sol[0] + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + if list(sol[0])==list(prev_sol): continue + duration = 0 + for p1, p2, max_vel in zip(sol[0], prev_sol, self.joint_velocity_limits.values()): + duration = max(duration, abs(p1 - p2) / max_vel) # as minimun + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + duration /= self.rampfunction(0.1, 2, prev_duration) + duration += prev_duration + prev_duration = duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py new file mode 100644 index 0000000..bcdeb07 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py @@ -0,0 +1,166 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = [joint_velocity_limits[joint] for joint in joint_names] + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + print("Received joint positions") + viapoints = [] + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 4 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + steps = int(np.linalg.norm(np.array([x1-x, y1-y, z1-z])) * steps_per_m) + if steps < 2: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + if i == 0: prev_sol = self.current_joint_positions + for j in (range(steps) if i == 0 else range(1,steps)): + #print(cart_traj[j]) + sol = self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + viapoints.append(list(sol[0])) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + dt = 0.01 + tacc = 0.5 + print(f'length viapoints: {len(viapoints)}') + traj = rtb.mstraj(np.array(viapoints), q0 = self.current_joint_positions ,dt=dt, tacc=tacc, qdmax=[1 * i for i in self.joint_velocity_limits]) + print(len(traj.q)) + print(len(traj.t)) + print(traj.t) + print(traj.arrive) + msg.points = [] + for i in range(len(traj.q)): + point = JointTrajectoryPoint() + point.positions = list(traj.q[i]) + point.time_from_start.sec = int(traj.t[i]) + point.time_from_start.nanosec = int(((traj.t[i] - int(traj.t[i])) * 1e9)) + #point.time_from_start = rclpy.duration.Duration(seconds=traj.t[i]).to_msg() + msg.points.append(point) + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + print('published') + except Exception as e: + print(f'Error in joint angles handler: {e}') + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py new file mode 100644 index 0000000..9c8a5fc --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py @@ -0,0 +1,180 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = joint_velocity_limits + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + print(f"Using topic name: {self.trajectroy_topic_name}") + print("--------------------------------------------------------------------------------------------------------------------------------") + while True: + try: + self.speed = input("Enter your desired speed of the tcp (in m/s): ") + if self.speed == '': + self.speed = 1 + else: + self.speed = float(self.speed) + break + except ValueError: + print("Invalid input. Please enter a number.") + continue + while True: + try: + self.t_acc = input("Enter how fast you want the tcp to reach that velocity (in s). \nRemember! If the acceleration time is to short the robot might not be able to accelerate fast enough: ") + if self.t_acc == '': + self.t_acc = 2 + else: + self.t_acc = float(self.t_acc) + break + except ValueError: + print("Invalid input. Please enter a number.") + continue + + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + # Store received joint positions + self.joint_names = joint_names + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + print("Received joint positions") + viapoints = np.array([list(i) for i in args]) + msg = JointTrajectory() + msg.joint_names = self.joint_names + x,y,z = self.robot.fkine(self.current_joint_positions).t + r,p,yaw = self.robot.fkine(self.current_joint_positions).rpy() + q0 = [x, y, z, r, p, yaw] + traj = rtb.mstraj(viapoints, q0 = q0 ,dt=0.01, tacc=self.t_acc, qdmax=self.speed) + msg.points = [] + prev_sol = self.current_joint_positions + for i in range(len(traj.q)): + T = sm.SE3(traj.q[i][:3]) * sm.SE3.RPY(traj.q[i][3:], order='xyz') + sol = self.robot.ik_LM(T, q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + point = JointTrajectoryPoint() + point.positions = list(sol[0]) + point.time_from_start.sec = int(traj.t[i]) + point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9) + msg.points.append(point) + prev_sol = list(sol[0]) + else: print('IK could not find a solution!') + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + print(f'lenght msg.points: {len(msg.points)}') + + print('published') + except Exception as e: + print(f'Error in joint_angles_handler: {e}') + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + print("--------------------------------------------------------------------------------------------------------------------------------") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + print("--------------------------------------------------------------------------------------------------------------------------------") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py new file mode 100644 index 0000000..ed76f55 --- /dev/null +++ b/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py @@ -0,0 +1,185 @@ +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from sensor_msgs.msg import JointState +from osc4py3.as_allthreads 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 +import os + +class ScaledJointTrajectoryPublisher(Node): + """Node to publish joint trajectories based on OSC messages.""" + def __init__(self, joint_names, robot, cost_mask, joint_velocity_limits): + super().__init__('scaled_joint_trajectory_publisher') + + self.joint_velocity_limits = [joint_velocity_limits[joint] for joint in joint_names] + self.cost_mask = cost_mask + self.robot = robot + self.trajectroy_topic_name = input("Enter the topic name to which the joint trajectory should be sent to: ") + + if self.trajectroy_topic_name == "": + self.trajectroy_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory' + + # ROS2 Publisher + self.publisher = self.create_publisher( + JointTrajectory, + self.trajectroy_topic_name, + 10 + ) + self.subscription = self.create_subscription( + JointState, + '/joint_states', + self.joint_states_callback, + 1 # Increased queue size for joint states + ) + + + + + self.maximum_acceleration = [0.0] * len(joint_names) + # Store received joint positions + self.joint_names = joint_names + for joint in joint_names: + self.maximum_acceleration[joint_names.index(joint)] = float(input(f"Enter the maximum acceleration for joint {joint}: ")) + + self.port = 8000 # UDP port + + osc_startup() + osc_udp_server("0.0.0.0", self.port, "osc_server") + print(f"Server started on 0.0.0.0:{str(self.port)} \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) + print("OSC method registered for /joint_trajectory") + + def joint_states_callback(self, msg): + """Callback function to handle incoming joint states.""" + joint_position_dict = dict(zip(msg.name, msg.position)) + self.current_joint_positions = [joint_position_dict[name] for name in self.joint_names] + joint_velocity_dict = dict(zip(msg.name, msg.velocity)) + self.current_joint_velocities = [joint_velocity_dict[name] for name in self.joint_names] + + def joint_angles_handler(self, *args): + """Handles incoming OSC messages for joint positions.""" + try: + print("Received joint positions") + msg = JointTrajectory() + msg.joint_names = self.joint_names + steps_per_m = 50 + + prev_duration = 0 + for i in range(len(args)-1): + x, y, z, roll, pitch, yaw = args[i] + x1, y1, z1, roll1, pitch1, yaw1 = args[i+1] + steps = int(np.linalg.norm([x1-x, y1-y, z1-z])*steps_per_m) + if steps <= 1: steps = 2 + cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i], order='xyz') for i in range(steps)] + prev_sol = self.current_joint_positions if i == 0 else sol[0] + sol_set = [] + for j in (range(steps) if i == 0 else range(1,steps)): + sol = self.robot.ik_LM(cart_traj[j], q0=[0.0] * len(self.joint_names), mask = self.cost_mask, joint_limits = True) if i == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True) + if sol[1] == 1: + sol_set.append(sol[0]) + prev_sol = list(sol[0]) + else: print(f'IK could not find a solution for (x,y,z) = ({cart_traj[j].t}), (roll,pitch,yaw) = ({cart_traj[j].rpy()})!') + distance = abs(sol_set[0]-sol_set[-1]) + ts= distance/np.array(self.joint_velocity_limits)+2*np.array(self.joint_velocity_limits)/np.array(self.maximum_acceleration) + t = max(ts) + idx = list(ts).index(t) + s_acc = self.joint_velocity_limits[idx]**2/(2*self.maximum_acceleration[idx]) + print(f"t: {t}, idx: {idx}, s_acc: {s_acc}") + print(f"sol_set: {sol_set}") + + for sol in sol_set: + print(f"sol: {sol}") + s = abs(sol[idx]-sol_set[0][idx]) + print(f"sol_set[0][idx]: {sol_set[0][idx]}, sol[idx]: {sol[idx]}, s: {s}") + if s <= s_acc: + duration = np.sqrt(s/self.maximum_acceleration[idx]) + print(f"acceleration phase, duration: {duration}") + elif s <= sol_set[-1][idx]-s_acc: + duration = self.joint_velocity_limits[idx]/self.maximum_acceleration[idx] + (s-s_acc)/self.joint_velocity_limits[idx] + print(f"constant velocity phase, duration: {duration}") + else: + duration = t-np.sqrt((sol_set[-1][idx]-s)/self.maximum_acceleration[idx]) + print(f"deceleration phase, duration: {duration}") + + point = JointTrajectoryPoint() + point.positions = list(sol) + duration += prev_duration + point.time_from_start.sec = int(duration) + point.time_from_start.nanosec = int((duration - int(duration)) * 1e9) + msg.points.append(point) + prev_duration = duration + msg.header.stamp = self.get_clock().now().to_msg() + self.publisher.publish(msg) + except Exception as e: + print(f"Error in joint angles handler: {e}") + +def main(): + """Main function to get joint names and start the ROS 2 & OSC system.""" + while True: + path_to_urdf = input("Enter the path to the URDF file: ") + if os.path.isfile(path_to_urdf): + if not path_to_urdf.endswith('.urdf'): + print("The file is not a URDF file. Please enter a valid URDF file.") + continue + break + else: + print("Invalid path. Please enter a valid path to the URDF file.") + tree = ET.parse(path_to_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(path_to_urdf) + print(robot) + + joint_velocity_limits = {} + + # Iterate over all joints in the URDF + for joint in root.findall('.//joint'): + joint_name = joint.get('name') # Get the name of the joint + + # Look for the tag under each joint + limit = joint.find('limit') + + if limit is not None: + # Extract the velocity limit (if it exists) + velocity_limit = limit.get('velocity') + + if velocity_limit is not None: + joint_velocity_limits[joint_name] = float(velocity_limit) + + + + rclpy.init() + while True: + try: + print("The cost mask determines which coordinates are used for the IK. Each element of the cost mask corresponds to a catesian coordinate [x, y, z, Rx, Ry, Rz].") + print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.") + cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")] + if sum(cost_mask) <= robot.n and len(cost_mask) == 6: + break + else: + print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.") + except ValueError: + print("Invalid input. Please enter integers only.") + print(f"Cost mask: {cost_mask}") + node = ScaledJointTrajectoryPublisher(joint_names, robot, cost_mask, joint_velocity_limits) + + # 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() diff --git a/workspace/install/local_setup.sh b/workspace/install/local_setup.sh index 5c15896..709c40c 100644 --- a/workspace/install/local_setup.sh +++ b/workspace/install/local_setup.sh @@ -6,7 +6,7 @@ # since a plain shell script can't determine its own path when being sourced # either use the provided COLCON_CURRENT_PREFIX # or fall back to the build time prefix (if it exists) -_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install" +_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/ws/src/ba-alexanderschaefer/workspace/install" if [ -z "$COLCON_CURRENT_PREFIX" ]; then if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 diff --git a/workspace/install/setup.sh b/workspace/install/setup.sh index fa9641d..60513be 100644 --- a/workspace/install/setup.sh +++ b/workspace/install/setup.sh @@ -7,7 +7,7 @@ # since a plain shell script can't determine its own path when being sourced # either use the provided COLCON_CURRENT_PREFIX # or fall back to the build time prefix (if it exists) -_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/workspace/install +_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/ws/src/ba-alexanderschaefer/workspace/install if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then diff --git a/workspace/log/build_2025-04-30_09-37-17/events.log b/workspace/log/build_2025-04-30_09-37-17/events.log new file mode 100644 index 0000000..50f18d2 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/events.log @@ -0,0 +1,46 @@ +[0.000000] (-) TimerEvent: {} +[0.000262] (-) JobUnselected: {'identifier': 'joint_info'} +[0.000366] (-) JobUnselected: {'identifier': 'mock_robot'} +[0.000442] (-) JobUnselected: {'identifier': 'painting_robot_control'} +[0.000469] (joint_control) JobQueued: {'identifier': 'joint_control', 'dependencies': OrderedDict()} +[0.000483] (joint_control) JobStarted: {'identifier': 'joint_control'} +[0.099902] (-) TimerEvent: {} +[0.200080] (-) TimerEvent: {} +[0.300267] (-) TimerEvent: {} +[0.334110] (joint_control) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'develop', '--editable', '--build-directory', '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/build', '--no-deps', 'symlink_data'], 'cwd': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'env': {'HOSTNAME': 'hapticslab2', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/root', 'OLDPWD': '/ws/src/ba-alexanderschaefer', 'ROS_PYTHON_VERSION': '3', 'ROS_DISTRO': 'humble', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'TERM': 'xterm', 'ROS_LOCALHOST_ONLY': '0', 'PATH': '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'LANG': 'C.UTF-8', '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:', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'PWD': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'LC_ALL': 'C.UTF-8', 'PYTHONPATH': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/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', 'COLCON': '1'}, 'shell': False} +[0.400349] (-) TimerEvent: {} +[0.472261] (joint_control) StdoutLine: {'line': b'running develop\n'} +[0.500416] (-) TimerEvent: {} +[0.550100] (joint_control) StdoutLine: {'line': b'running egg_info\n'} +[0.550228] (joint_control) StdoutLine: {'line': b'writing joint_control.egg-info/PKG-INFO\n'} +[0.550297] (joint_control) StdoutLine: {'line': b'writing dependency_links to joint_control.egg-info/dependency_links.txt\n'} +[0.550427] (joint_control) StdoutLine: {'line': b'writing entry points to joint_control.egg-info/entry_points.txt\n'} +[0.550501] (joint_control) StdoutLine: {'line': b'writing requirements to joint_control.egg-info/requires.txt\n'} +[0.550553] (joint_control) StdoutLine: {'line': b'writing top-level names to joint_control.egg-info/top_level.txt\n'} +[0.551471] (joint_control) StdoutLine: {'line': b"reading manifest file 'joint_control.egg-info/SOURCES.txt'\n"} +[0.552149] (joint_control) StdoutLine: {'line': b"writing manifest file 'joint_control.egg-info/SOURCES.txt'\n"} +[0.552826] (joint_control) StdoutLine: {'line': b'running build_ext\n'} +[0.552915] (joint_control) StdoutLine: {'line': b'Creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .)\n'} +[0.553306] (joint_control) StdoutLine: {'line': b'Installing cart_coords script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553428] (joint_control) StdoutLine: {'line': b'Installing joint_control script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553527] (joint_control) StdoutLine: {'line': b'Installing plugdata script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553608] (joint_control) StdoutLine: {'line': b'Installing plugdata_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553702] (joint_control) StdoutLine: {'line': b'Installing plugdata_cart_fix script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553782] (joint_control) StdoutLine: {'line': b'Installing plugdata_cart_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553858] (joint_control) StdoutLine: {'line': b'Installing test script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.553931] (joint_control) StdoutLine: {'line': b'Installing trajectory_server script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554007] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554103] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_cart_fast script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554180] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_cart_fast_max_acc script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554258] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_cart_fast_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554333] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_new script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554405] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_new_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554489] (joint_control) StdoutLine: {'line': b'Installing trajectory_server_trapezoidal script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control\n'} +[0.554611] (joint_control) StdoutLine: {'line': b'\n'} +[0.554653] (joint_control) StdoutLine: {'line': b'Installed /ws/src/ba-alexanderschaefer/workspace/build/joint_control\n'} +[0.554688] (joint_control) StdoutLine: {'line': b'running symlink_data\n'} +[0.554746] (joint_control) StdoutLine: {'line': b'symbolically linking /ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages\n'} +[0.554783] (joint_control) StderrLine: {'line': b"error: [Errno 17] File exists: '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control' -> '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control'\n"} +[0.567286] (joint_control) CommandEnded: {'returncode': 1} +[0.567485] (joint_control) JobEnded: {'identifier': 'joint_control', 'rc': 1} +[0.577562] (-) EventReactorShutdown: {} diff --git a/workspace/log/build_2025-04-30_09-37-17/joint_control/command.log b/workspace/log/build_2025-04-30_09-37-17/joint_control/command.log new file mode 100644 index 0000000..1283d39 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/joint_control/command.log @@ -0,0 +1,2 @@ +Invoking command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build --no-deps symlink_data +Invoked command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control' returned '1': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build --no-deps symlink_data diff --git a/workspace/log/build_2025-04-30_09-37-17/joint_control/stderr.log b/workspace/log/build_2025-04-30_09-37-17/joint_control/stderr.log new file mode 100644 index 0000000..0b61c72 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/joint_control/stderr.log @@ -0,0 +1 @@ +error: [Errno 17] File exists: '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control' -> '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control' diff --git a/workspace/log/build_2025-04-30_09-37-17/joint_control/stdout.log b/workspace/log/build_2025-04-30_09-37-17/joint_control/stdout.log new file mode 100644 index 0000000..ebb6e92 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/joint_control/stdout.log @@ -0,0 +1,30 @@ +running develop +running egg_info +writing joint_control.egg-info/PKG-INFO +writing dependency_links to joint_control.egg-info/dependency_links.txt +writing entry points to joint_control.egg-info/entry_points.txt +writing requirements to joint_control.egg-info/requires.txt +writing top-level names to joint_control.egg-info/top_level.txt +reading manifest file 'joint_control.egg-info/SOURCES.txt' +writing manifest file 'joint_control.egg-info/SOURCES.txt' +running build_ext +Creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .) +Installing cart_coords script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing joint_control script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata_cart_fix script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata_cart_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing test script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart_fast script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart_fast_max_acc script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart_fast_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_new script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_new_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_trapezoidal script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control + +Installed /ws/src/ba-alexanderschaefer/workspace/build/joint_control +running symlink_data +symbolically linking /ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages diff --git a/workspace/log/build_2025-04-30_09-37-17/joint_control/stdout_stderr.log b/workspace/log/build_2025-04-30_09-37-17/joint_control/stdout_stderr.log new file mode 100644 index 0000000..26808e0 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/joint_control/stdout_stderr.log @@ -0,0 +1,31 @@ +running develop +running egg_info +writing joint_control.egg-info/PKG-INFO +writing dependency_links to joint_control.egg-info/dependency_links.txt +writing entry points to joint_control.egg-info/entry_points.txt +writing requirements to joint_control.egg-info/requires.txt +writing top-level names to joint_control.egg-info/top_level.txt +reading manifest file 'joint_control.egg-info/SOURCES.txt' +writing manifest file 'joint_control.egg-info/SOURCES.txt' +running build_ext +Creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .) +Installing cart_coords script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing joint_control script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata_cart_fix script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing plugdata_cart_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing test script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart_fast script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart_fast_max_acc script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_cart_fast_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_new script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_new_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +Installing trajectory_server_trapezoidal script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control + +Installed /ws/src/ba-alexanderschaefer/workspace/build/joint_control +running symlink_data +symbolically linking /ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages +error: [Errno 17] File exists: '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control' -> '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control' diff --git a/workspace/log/build_2025-04-30_09-37-17/joint_control/streams.log b/workspace/log/build_2025-04-30_09-37-17/joint_control/streams.log new file mode 100644 index 0000000..55776e5 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/joint_control/streams.log @@ -0,0 +1,33 @@ +[0.334s] Invoking command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build --no-deps symlink_data +[0.472s] running develop +[0.550s] running egg_info +[0.550s] writing joint_control.egg-info/PKG-INFO +[0.550s] writing dependency_links to joint_control.egg-info/dependency_links.txt +[0.550s] writing entry points to joint_control.egg-info/entry_points.txt +[0.550s] writing requirements to joint_control.egg-info/requires.txt +[0.550s] writing top-level names to joint_control.egg-info/top_level.txt +[0.551s] reading manifest file 'joint_control.egg-info/SOURCES.txt' +[0.552s] writing manifest file 'joint_control.egg-info/SOURCES.txt' +[0.552s] running build_ext +[0.552s] Creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .) +[0.553s] Installing cart_coords script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing joint_control script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing plugdata script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing plugdata_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing plugdata_cart_fix script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing plugdata_cart_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing test script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.553s] Installing trajectory_server script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_cart_fast script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_cart_fast_max_acc script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_cart_fast_smooth script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_new script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_new_cart script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] Installing trajectory_server_trapezoidal script to /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/joint_control +[0.554s] +[0.554s] Installed /ws/src/ba-alexanderschaefer/workspace/build/joint_control +[0.554s] running symlink_data +[0.554s] symbolically linking /ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages +[0.554s] error: [Errno 17] File exists: '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/resource/joint_control' -> '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control' +[0.567s] Invoked command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control' returned '1': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build --no-deps symlink_data diff --git a/workspace/log/build_2025-04-30_09-37-17/logger_all.log b/workspace/log/build_2025-04-30_09-37-17/logger_all.log new file mode 100644 index 0000000..834277a --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-17/logger_all.log @@ -0,0 +1,141 @@ +[0.064s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'joint_control', '--symlink-install'] +[0.064s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=16, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=['joint_control'], packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) +[0.158s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters +[0.158s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta' +[0.159s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta' +[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters +[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters +[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters +[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover +[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover +[0.159s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/ws/src/ba-alexanderschaefer/workspace' +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] +[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python'] +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake' +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python' +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py'] +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py' +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install'] +[0.172s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['ignore', 'ignore_ament_install'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'ignore' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'ignore_ament_install' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['colcon_pkg'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'colcon_pkg' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['colcon_meta'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'colcon_meta' +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['ros'] +[0.173s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'ros' +[0.175s] DEBUG:colcon.colcon_core.package_identification:Package 'src/joint_control' with type 'ros.ament_python' and name 'joint_control' +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['ignore', 'ignore_ament_install'] +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'ignore' +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'ignore_ament_install' +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['colcon_pkg'] +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'colcon_pkg' +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['colcon_meta'] +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'colcon_meta' +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['ros'] +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'ros' +[0.175s] DEBUG:colcon.colcon_core.package_identification:Package 'src/joint_info' with type 'ros.ament_python' and name 'joint_info' +[0.175s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['ignore', 'ignore_ament_install'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'ignore' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'ignore_ament_install' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['colcon_pkg'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'colcon_pkg' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['colcon_meta'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'colcon_meta' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['ros'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'ros' +[0.176s] DEBUG:colcon.colcon_core.package_identification:Package 'src/mock_robot' with type 'ros.ament_python' and name 'mock_robot' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['ignore', 'ignore_ament_install'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'ignore' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'ignore_ament_install' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['colcon_pkg'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'colcon_pkg' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['colcon_meta'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'colcon_meta' +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['ros'] +[0.176s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'ros' +[0.176s] DEBUG:colcon.colcon_core.package_identification:Package 'src/painting_robot_control' with type 'ros.ament_python' and name 'painting_robot_control' +[0.176s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults +[0.177s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover +[0.177s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults +[0.177s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover +[0.177s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults +[0.192s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'joint_info' in 'src/joint_info' +[0.192s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'mock_robot' in 'src/mock_robot' +[0.192s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'painting_robot_control' in 'src/painting_robot_control' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_args' from command line to 'None' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_target' from command line to 'None' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_target_skip_unavailable' from command line to 'False' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_clean_cache' from command line to 'False' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_clean_first' from command line to 'False' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_force_configure' from command line to 'False' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'ament_cmake_args' from command line to 'None' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'catkin_cmake_args' from command line to 'None' +[0.192s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'catkin_skip_building_tests' from command line to 'False' +[0.192s] DEBUG:colcon.colcon_core.verb:Building package 'joint_control' with the following arguments: {'ament_cmake_args': None, 'build_base': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/ws/src/ba-alexanderschaefer/workspace/install/joint_control', 'merge_install': False, 'path': '/ws/src/ba-alexanderschaefer/workspace/src/joint_control', 'symlink_install': True, 'test_result_base': None} +[0.192s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor +[0.193s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete +[0.193s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' with build type 'ament_python' +[0.193s] Level 1:colcon.colcon_core.shell:create_environment_hook('joint_control', 'ament_prefix_path') +[0.195s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems +[0.195s] INFO:colcon.colcon_core.shell:Creating environment hook '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.ps1' +[0.195s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.dsv' +[0.196s] INFO:colcon.colcon_core.shell:Creating environment hook '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.sh' +[0.196s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.196s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.333s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' +[0.333s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.333s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.528s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build --no-deps symlink_data +[0.760s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control' returned '1': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build --no-deps symlink_data +[0.770s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop +[0.770s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed +[0.770s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1' +[0.771s] DEBUG:colcon.colcon_core.event_reactor:joining thread +[0.774s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send' +[0.774s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems +[0.774s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems +[0.774s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' +[0.774s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.NotSupported: Unable to autolaunch a dbus-daemon without a $DISPLAY for X11 +[0.774s] DEBUG:colcon.colcon_core.event_reactor:joined thread +[0.774s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.ps1' +[0.775s] INFO:colcon.colcon_core.shell:Creating prefix util module '/ws/src/ba-alexanderschaefer/workspace/install/_local_setup_util_ps1.py' +[0.776s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.ps1' +[0.776s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.sh' +[0.776s] INFO:colcon.colcon_core.shell:Creating prefix util module '/ws/src/ba-alexanderschaefer/workspace/install/_local_setup_util_sh.py' +[0.777s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.sh' +[0.777s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.bash' +[0.777s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.bash' +[0.778s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.zsh' +[0.778s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.zsh' diff --git a/workspace/log/build_2025-04-30_09-37-26/events.log b/workspace/log/build_2025-04-30_09-37-26/events.log new file mode 100644 index 0000000..65c3c68 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/events.log @@ -0,0 +1,79 @@ +[0.000000] (-) TimerEvent: {} +[0.000112] (-) JobUnselected: {'identifier': 'joint_info'} +[0.000184] (-) JobUnselected: {'identifier': 'mock_robot'} +[0.000344] (-) JobUnselected: {'identifier': 'painting_robot_control'} +[0.000414] (joint_control) JobQueued: {'identifier': 'joint_control', 'dependencies': OrderedDict()} +[0.000467] (joint_control) JobStarted: {'identifier': 'joint_control'} +[0.099936] (-) TimerEvent: {} +[0.200136] (-) TimerEvent: {} +[0.300332] (-) TimerEvent: {} +[0.325584] (joint_control) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'develop', '--uninstall', '--editable', '--build-directory', '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/build'], 'cwd': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'env': {'HOSTNAME': 'hapticslab2', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/root', 'OLDPWD': '/ws/src/ba-alexanderschaefer', 'ROS_PYTHON_VERSION': '3', 'ROS_DISTRO': 'humble', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'TERM': 'xterm', 'ROS_LOCALHOST_ONLY': '0', 'PATH': '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'LANG': 'C.UTF-8', '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:', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'PWD': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'LC_ALL': 'C.UTF-8', 'PYTHONPATH': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/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', 'COLCON': '1'}, 'shell': False} +[0.400610] (-) TimerEvent: {} +[0.460411] (joint_control) StdoutLine: {'line': b'running develop\n'} +[0.500685] (-) TimerEvent: {} +[0.532717] (joint_control) StdoutLine: {'line': b'Removing /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .)\n'} +[0.545079] (joint_control) CommandEnded: {'returncode': 0} +[0.545712] (joint_control) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/joint_control', 'build', '--build-base', '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/build', 'install', '--record', '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log', '--single-version-externally-managed', 'install_data', '--force'], 'cwd': '/ws/src/ba-alexanderschaefer/workspace/src/joint_control', 'env': {'HOSTNAME': 'hapticslab2', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/root', 'OLDPWD': '/ws/src/ba-alexanderschaefer', 'ROS_PYTHON_VERSION': '3', 'ROS_DISTRO': 'humble', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'TERM': 'xterm', 'ROS_LOCALHOST_ONLY': '0', 'PATH': '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'LANG': 'C.UTF-8', '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:', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'PWD': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'LC_ALL': 'C.UTF-8', 'PYTHONPATH': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/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', 'COLCON': '1'}, 'shell': False} +[0.600759] (-) TimerEvent: {} +[0.655665] (joint_control) StdoutLine: {'line': b'running egg_info\n'} +[0.655984] (joint_control) StdoutLine: {'line': b'writing ../../build/joint_control/joint_control.egg-info/PKG-INFO\n'} +[0.656084] (joint_control) StdoutLine: {'line': b'writing dependency_links to ../../build/joint_control/joint_control.egg-info/dependency_links.txt\n'} +[0.656198] (joint_control) StdoutLine: {'line': b'writing entry points to ../../build/joint_control/joint_control.egg-info/entry_points.txt\n'} +[0.656269] (joint_control) StdoutLine: {'line': b'writing requirements to ../../build/joint_control/joint_control.egg-info/requires.txt\n'} +[0.656333] (joint_control) StdoutLine: {'line': b'writing top-level names to ../../build/joint_control/joint_control.egg-info/top_level.txt\n'} +[0.657140] (joint_control) StdoutLine: {'line': b"reading manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt'\n"} +[0.657672] (joint_control) StdoutLine: {'line': b"writing manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt'\n"} +[0.657734] (joint_control) StdoutLine: {'line': b'running build\n'} +[0.657784] (joint_control) StdoutLine: {'line': b'running build_py\n'} +[0.657927] (joint_control) StdoutLine: {'line': b'copying joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658019] (joint_control) StdoutLine: {'line': b'copying joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658096] (joint_control) StdoutLine: {'line': b'copying joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658211] (joint_control) StdoutLine: {'line': b'copying joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658278] (joint_control) StdoutLine: {'line': b'copying joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658348] (joint_control) StdoutLine: {'line': b'copying joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658414] (joint_control) StdoutLine: {'line': b'copying joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658482] (joint_control) StdoutLine: {'line': b'copying joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658550] (joint_control) StdoutLine: {'line': b'copying joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658620] (joint_control) StdoutLine: {'line': b'copying joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658690] (joint_control) StdoutLine: {'line': b'copying joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control\n'} +[0.658877] (joint_control) StdoutLine: {'line': b'running install\n'} +[0.658998] (joint_control) StdoutLine: {'line': b'running install_lib\n'} +[0.659315] (joint_control) StdoutLine: {'line': b'creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659361] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/__init__.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659417] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/cart_tcp_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659484] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/joint_angles_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659552] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659619] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659686] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659753] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659821] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659888] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.659959] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660027] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660093] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660163] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660230] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660306] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660375] (joint_control) StdoutLine: {'line': b'copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control\n'} +[0.660646] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/__init__.py to __init__.cpython-310.pyc\n'} +[0.660772] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/cart_tcp_server.py to cart_tcp_server.cpython-310.pyc\n'} +[0.661229] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py to joint_angles_server.cpython-310.pyc\n'} +[0.661565] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py to trajectory_server.cpython-310.pyc\n'} +[0.661865] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py to trajectory_server_cart.cpython-310.pyc\n'} +[0.662317] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py to plugdata_cart.cpython-310.pyc\n'} +[0.662945] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py to plugdata_cart_smooth.cpython-310.pyc\n'} +[0.663825] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py to test.cpython-310.pyc\n'} +[0.664002] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py to trajectory_server_cart_fast.cpython-310.pyc\n'} +[0.664542] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py to trajectory_server_cart_fast_max_acc.cpython-310.pyc\n'} +[0.665189] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py to trajectory_server_cart_fast_smooth.cpython-310.pyc\n'} +[0.665742] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py to trajectory_server_trapezoidal.cpython-310.pyc\n'} +[0.666444] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py to plugdata.cpython-310.pyc\n'} +[0.667091] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py to plugdata_cart_fix.cpython-310.pyc\n'} +[0.668116] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py to trajectory_server_new.cpython-310.pyc\n'} +[0.668737] (joint_control) StdoutLine: {'line': b'byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py to trajectory_server_new_cart.cpython-310.pyc\n'} +[0.669315] (joint_control) StdoutLine: {'line': b'running install_data\n'} +[0.669378] (joint_control) StdoutLine: {'line': b'copying resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages\n'} +[0.669441] (joint_control) StderrLine: {'line': b"error: could not create '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control': No such file or directory\n"} +[0.678000] (joint_control) CommandEnded: {'returncode': 1} +[0.678164] (joint_control) JobEnded: {'identifier': 'joint_control', 'rc': 1} +[0.688266] (-) EventReactorShutdown: {} diff --git a/workspace/log/build_2025-04-30_09-37-26/joint_control/command.log b/workspace/log/build_2025-04-30_09-37-26/joint_control/command.log new file mode 100644 index 0000000..f1180fa --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/joint_control/command.log @@ -0,0 +1,4 @@ +Invoking command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --uninstall --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build +Invoked command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control' returned '0': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --uninstall --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build +Invoking command in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/joint_control build --build-base /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build install --record /ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log --single-version-externally-managed install_data --force +Invoked command in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' returned '1': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/joint_control build --build-base /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build install --record /ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log --single-version-externally-managed install_data --force diff --git a/workspace/log/build_2025-04-30_09-37-26/joint_control/stderr.log b/workspace/log/build_2025-04-30_09-37-26/joint_control/stderr.log new file mode 100644 index 0000000..d7f9d65 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/joint_control/stderr.log @@ -0,0 +1 @@ +error: could not create '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control': No such file or directory diff --git a/workspace/log/build_2025-04-30_09-37-26/joint_control/stdout.log b/workspace/log/build_2025-04-30_09-37-26/joint_control/stdout.log new file mode 100644 index 0000000..3e38293 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/joint_control/stdout.log @@ -0,0 +1,60 @@ +running develop +Removing /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .) +running egg_info +writing ../../build/joint_control/joint_control.egg-info/PKG-INFO +writing dependency_links to ../../build/joint_control/joint_control.egg-info/dependency_links.txt +writing entry points to ../../build/joint_control/joint_control.egg-info/entry_points.txt +writing requirements to ../../build/joint_control/joint_control.egg-info/requires.txt +writing top-level names to ../../build/joint_control/joint_control.egg-info/top_level.txt +reading manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt' +writing manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt' +running build +running build_py +copying joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +running install +running install_lib +creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/__init__.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/cart_tcp_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/joint_angles_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/__init__.py to __init__.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/cart_tcp_server.py to cart_tcp_server.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py to joint_angles_server.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py to trajectory_server.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py to trajectory_server_cart.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py to plugdata_cart.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py to plugdata_cart_smooth.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py to test.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py to trajectory_server_cart_fast.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py to trajectory_server_cart_fast_max_acc.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py to trajectory_server_cart_fast_smooth.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py to trajectory_server_trapezoidal.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py to plugdata.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py to plugdata_cart_fix.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py to trajectory_server_new.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py to trajectory_server_new_cart.cpython-310.pyc +running install_data +copying resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages diff --git a/workspace/log/build_2025-04-30_09-37-26/joint_control/stdout_stderr.log b/workspace/log/build_2025-04-30_09-37-26/joint_control/stdout_stderr.log new file mode 100644 index 0000000..704ceab --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/joint_control/stdout_stderr.log @@ -0,0 +1,61 @@ +running develop +Removing /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .) +running egg_info +writing ../../build/joint_control/joint_control.egg-info/PKG-INFO +writing dependency_links to ../../build/joint_control/joint_control.egg-info/dependency_links.txt +writing entry points to ../../build/joint_control/joint_control.egg-info/entry_points.txt +writing requirements to ../../build/joint_control/joint_control.egg-info/requires.txt +writing top-level names to ../../build/joint_control/joint_control.egg-info/top_level.txt +reading manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt' +writing manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt' +running build +running build_py +copying joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +copying joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +running install +running install_lib +creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/__init__.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/cart_tcp_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/joint_angles_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/__init__.py to __init__.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/cart_tcp_server.py to cart_tcp_server.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py to joint_angles_server.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py to trajectory_server.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py to trajectory_server_cart.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py to plugdata_cart.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py to plugdata_cart_smooth.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py to test.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py to trajectory_server_cart_fast.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py to trajectory_server_cart_fast_max_acc.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py to trajectory_server_cart_fast_smooth.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py to trajectory_server_trapezoidal.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py to plugdata.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py to plugdata_cart_fix.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py to trajectory_server_new.cpython-310.pyc +byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py to trajectory_server_new_cart.cpython-310.pyc +running install_data +copying resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages +error: could not create '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control': No such file or directory diff --git a/workspace/log/build_2025-04-30_09-37-26/joint_control/streams.log b/workspace/log/build_2025-04-30_09-37-26/joint_control/streams.log new file mode 100644 index 0000000..5d03796 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/joint_control/streams.log @@ -0,0 +1,65 @@ +[0.326s] Invoking command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --uninstall --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build +[0.460s] running develop +[0.532s] Removing /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint-control.egg-link (link to .) +[0.545s] Invoked command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control' returned '0': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --uninstall --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build +[0.546s] Invoking command in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/joint_control build --build-base /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build install --record /ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log --single-version-externally-managed install_data --force +[0.655s] running egg_info +[0.656s] writing ../../build/joint_control/joint_control.egg-info/PKG-INFO +[0.656s] writing dependency_links to ../../build/joint_control/joint_control.egg-info/dependency_links.txt +[0.656s] writing entry points to ../../build/joint_control/joint_control.egg-info/entry_points.txt +[0.656s] writing requirements to ../../build/joint_control/joint_control.egg-info/requires.txt +[0.656s] writing top-level names to ../../build/joint_control/joint_control.egg-info/top_level.txt +[0.657s] reading manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt' +[0.657s] writing manifest file '../../build/joint_control/joint_control.egg-info/SOURCES.txt' +[0.657s] running build +[0.657s] running build_py +[0.657s] copying joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] copying joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control +[0.658s] running install +[0.659s] running install_lib +[0.659s] creating /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/__init__.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/cart_tcp_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/joint_angles_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/test.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.659s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_max_acc.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_cart_fast_smooth.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_trapezoidal.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/plugdata_cart_fix.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] copying /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build/lib/joint_control/trajectory_server_new_cart.py -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control +[0.660s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/__init__.py to __init__.cpython-310.pyc +[0.660s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/cart_tcp_server.py to cart_tcp_server.cpython-310.pyc +[0.661s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/joint_angles_server.py to joint_angles_server.cpython-310.pyc +[0.661s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server.py to trajectory_server.cpython-310.pyc +[0.661s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart.py to trajectory_server_cart.cpython-310.pyc +[0.662s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart.py to plugdata_cart.cpython-310.pyc +[0.662s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_smooth.py to plugdata_cart_smooth.cpython-310.pyc +[0.663s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/test.py to test.cpython-310.pyc +[0.664s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast.py to trajectory_server_cart_fast.cpython-310.pyc +[0.664s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_max_acc.py to trajectory_server_cart_fast_max_acc.cpython-310.pyc +[0.665s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_cart_fast_smooth.py to trajectory_server_cart_fast_smooth.cpython-310.pyc +[0.665s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_trapezoidal.py to trajectory_server_trapezoidal.cpython-310.pyc +[0.666s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata.py to plugdata.cpython-310.pyc +[0.667s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/plugdata_cart_fix.py to plugdata_cart_fix.cpython-310.pyc +[0.668s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new.py to trajectory_server_new.cpython-310.pyc +[0.668s] byte-compiling /ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages/joint_control/trajectory_server_new_cart.py to trajectory_server_new_cart.cpython-310.pyc +[0.669s] running install_data +[0.669s] copying resource/joint_control -> /ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages +[0.669s] error: could not create '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/ament_index/resource_index/packages/joint_control': No such file or directory +[0.678s] Invoked command in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' returned '1': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/joint_control build --build-base /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build install --record /ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log --single-version-externally-managed install_data --force diff --git a/workspace/log/build_2025-04-30_09-37-26/logger_all.log b/workspace/log/build_2025-04-30_09-37-26/logger_all.log new file mode 100644 index 0000000..de47643 --- /dev/null +++ b/workspace/log/build_2025-04-30_09-37-26/logger_all.log @@ -0,0 +1,143 @@ +[0.063s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'joint_control'] +[0.063s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=16, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=['joint_control'], packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) +[0.150s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters +[0.151s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta' +[0.151s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta' +[0.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters +[0.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters +[0.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters +[0.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover +[0.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover +[0.151s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/ws/src/ba-alexanderschaefer/workspace' +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] +[0.151s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py'] +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py' +[0.165s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['ignore', 'ignore_ament_install'] +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'ignore' +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'ignore_ament_install' +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['colcon_pkg'] +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'colcon_pkg' +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['colcon_meta'] +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'colcon_meta' +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extensions ['ros'] +[0.166s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_control) by extension 'ros' +[0.167s] DEBUG:colcon.colcon_core.package_identification:Package 'src/joint_control' with type 'ros.ament_python' and name 'joint_control' +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['ignore', 'ignore_ament_install'] +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'ignore' +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'ignore_ament_install' +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['colcon_pkg'] +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'colcon_pkg' +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['colcon_meta'] +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'colcon_meta' +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extensions ['ros'] +[0.167s] Level 1:colcon.colcon_core.package_identification:_identify(src/joint_info) by extension 'ros' +[0.168s] DEBUG:colcon.colcon_core.package_identification:Package 'src/joint_info' with type 'ros.ament_python' and name 'joint_info' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['ignore', 'ignore_ament_install'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'ignore' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'ignore_ament_install' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['colcon_pkg'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'colcon_pkg' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['colcon_meta'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'colcon_meta' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extensions ['ros'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/mock_robot) by extension 'ros' +[0.168s] DEBUG:colcon.colcon_core.package_identification:Package 'src/mock_robot' with type 'ros.ament_python' and name 'mock_robot' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['ignore', 'ignore_ament_install'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'ignore' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'ignore_ament_install' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['colcon_pkg'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'colcon_pkg' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['colcon_meta'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'colcon_meta' +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extensions ['ros'] +[0.168s] Level 1:colcon.colcon_core.package_identification:_identify(src/painting_robot_control) by extension 'ros' +[0.169s] DEBUG:colcon.colcon_core.package_identification:Package 'src/painting_robot_control' with type 'ros.ament_python' and name 'painting_robot_control' +[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults +[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover +[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults +[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover +[0.169s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults +[0.184s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'joint_info' in 'src/joint_info' +[0.184s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'mock_robot' in 'src/mock_robot' +[0.184s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'painting_robot_control' in 'src/painting_robot_control' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_args' from command line to 'None' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_target' from command line to 'None' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_target_skip_unavailable' from command line to 'False' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_clean_cache' from command line to 'False' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_clean_first' from command line to 'False' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'cmake_force_configure' from command line to 'False' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'ament_cmake_args' from command line to 'None' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'catkin_cmake_args' from command line to 'None' +[0.185s] Level 5:colcon.colcon_core.verb:set package 'joint_control' build argument 'catkin_skip_building_tests' from command line to 'False' +[0.185s] DEBUG:colcon.colcon_core.verb:Building package 'joint_control' with the following arguments: {'ament_cmake_args': None, 'build_base': '/ws/src/ba-alexanderschaefer/workspace/build/joint_control', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/ws/src/ba-alexanderschaefer/workspace/install/joint_control', 'merge_install': False, 'path': '/ws/src/ba-alexanderschaefer/workspace/src/joint_control', 'symlink_install': False, 'test_result_base': None} +[0.185s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor +[0.185s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete +[0.186s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' with build type 'ament_python' +[0.186s] Level 1:colcon.colcon_core.shell:create_environment_hook('joint_control', 'ament_prefix_path') +[0.187s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems +[0.187s] INFO:colcon.colcon_core.shell:Creating environment hook '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.ps1' +[0.187s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.dsv' +[0.188s] INFO:colcon.colcon_core.shell:Creating environment hook '/ws/src/ba-alexanderschaefer/workspace/install/joint_control/share/joint_control/hook/ament_prefix_path.sh' +[0.188s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.188s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.323s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' +[0.323s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.323s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.511s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --uninstall --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build +[0.731s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/ws/src/ba-alexanderschaefer/workspace/build/joint_control' returned '0': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --uninstall --editable --build-directory /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build +[0.731s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/joint_control build --build-base /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build install --record /ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log --single-version-externally-managed install_data --force +[0.863s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/ws/src/ba-alexanderschaefer/workspace/src/joint_control' returned '1': PYTHONPATH=/ws/src/ba-alexanderschaefer/workspace/build/joint_control/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/ws/src/ba-alexanderschaefer/workspace/install/joint_control/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/joint_control build --build-base /ws/src/ba-alexanderschaefer/workspace/build/joint_control/build install --record /ws/src/ba-alexanderschaefer/workspace/build/joint_control/install.log --single-version-externally-managed install_data --force +[0.873s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop +[0.873s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed +[0.873s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1' +[0.874s] DEBUG:colcon.colcon_core.event_reactor:joining thread +[0.876s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send' +[0.877s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems +[0.877s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems +[0.877s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' +[0.877s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.NotSupported: Unable to autolaunch a dbus-daemon without a $DISPLAY for X11 +[0.877s] DEBUG:colcon.colcon_core.event_reactor:joined thread +[0.877s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.ps1' +[0.877s] INFO:colcon.colcon_core.shell:Creating prefix util module '/ws/src/ba-alexanderschaefer/workspace/install/_local_setup_util_ps1.py' +[0.878s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.ps1' +[0.879s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.sh' +[0.879s] INFO:colcon.colcon_core.shell:Creating prefix util module '/ws/src/ba-alexanderschaefer/workspace/install/_local_setup_util_sh.py' +[0.879s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.sh' +[0.880s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.bash' +[0.880s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.bash' +[0.880s] INFO:colcon.colcon_core.shell:Creating prefix script '/ws/src/ba-alexanderschaefer/workspace/install/local_setup.zsh' +[0.881s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/ws/src/ba-alexanderschaefer/workspace/install/setup.zsh' diff --git a/workspace/log/latest_build b/workspace/log/latest_build index 5c06eb6..5325a24 120000 --- a/workspace/log/latest_build +++ b/workspace/log/latest_build @@ -1 +1 @@ -build_2025-04-20_11-18-39 \ No newline at end of file +build_2025-04-30_09-37-26 \ No newline at end of file diff --git a/workspace/src/joint_angles.py b/workspace/src/joint_angles.py index 42c70cf..22ac257 100644 --- a/workspace/src/joint_angles.py +++ b/workspace/src/joint_angles.py @@ -8,7 +8,7 @@ def main(): osc_startup() # Make client channels to send packets - osc_udp_client("172.18.0.3", 8000, "osc_client") + osc_udp_client("localhost", 8000, "osc_client") # Example joint positions to send joint_positions1 = [0.0,0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/workspace/src/joint_control/joint_control/__pycache__/__init__.cpython-310.pyc b/workspace/src/joint_control/joint_control/__pycache__/__init__.cpython-310.pyc index b9dd570..df464e8 100644 Binary files a/workspace/src/joint_control/joint_control/__pycache__/__init__.cpython-310.pyc and b/workspace/src/joint_control/joint_control/__pycache__/__init__.cpython-310.pyc differ diff --git a/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc b/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc index ded605c..d00234d 100644 Binary files a/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc and b/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc differ diff --git a/workspace/src/joint_control/joint_control/__pycache__/trajectory_server_new_cart.cpython-310.pyc b/workspace/src/joint_control/joint_control/__pycache__/trajectory_server_new_cart.cpython-310.pyc index 02821aa..aa769b0 100644 Binary files a/workspace/src/joint_control/joint_control/__pycache__/trajectory_server_new_cart.cpython-310.pyc and b/workspace/src/joint_control/joint_control/__pycache__/trajectory_server_new_cart.cpython-310.pyc differ diff --git a/workspace/src/joint_control/joint_control/plugdata_cart_fix.py b/workspace/src/joint_control/joint_control/plugdata_cart_fix.py index a045cce..0f4b914 100644 --- a/workspace/src/joint_control/joint_control/plugdata_cart_fix.py +++ b/workspace/src/joint_control/joint_control/plugdata_cart_fix.py @@ -217,6 +217,7 @@ def main(): 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(robot_urdf) + print(robot) joint_velocity_limits = {} # Iterate over all joints in the URDF