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AS: connection with Pd

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This commit is contained in:
Alexander Schaefer
2025-04-07 19:20:31 +02:00
parent c95e0f4c0c
commit e00fa0a38a
30 changed files with 127 additions and 635 deletions
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2
ros2_ws/install/local_setup.sh
View File

@@ -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="/ros2_ws/install"
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/ros2_ws/install"
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2

5
ros2_ws/install/setup.bash
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@@ -17,11 +17,6 @@ _colcon_prefix_chain_bash_source_script() {
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"

3
ros2_ws/install/setup.ps1
View File

@@ -21,9 +21,6 @@ function _colcon_prefix_chain_powershell_source_script {
}
}
# source chained prefixes
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
# source this prefix
$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"

8
ros2_ws/install/setup.sh
View File

@@ -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=/ros2_ws/install
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/ros2_ws/install
if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
@@ -29,12 +29,6 @@ _colcon_prefix_chain_sh_source_script() {
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"

5
ros2_ws/install/setup.zsh
View File

@@ -17,11 +17,6 @@ _colcon_prefix_chain_zsh_source_script() {
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"

2
ros2_ws/log/latest_build
View File

@@ -1 +1 @@
build_2025-01-29_16-04-47
build_2025-03-27_14-22-13

2
ros2_ws/src/joint_states_control/get_urdf.py
View File

@@ -38,7 +38,7 @@ def main():
if urdf_string:
# Save to a file
urdf_path = "/BA/robot.urdf"
urdf_path = "/BA/robot_ur5.urdf"
with open(urdf_path, "w") as file:
file.write(urdf_string)

1
ros2_ws/src/joint_states_control/move_scaled_joint_cart.py
View File

@@ -5,7 +5,6 @@ from rcl_interfaces.srv import GetParameters
import time
from cart_to_angles import ik_sol
import roboticstoolbox as rtb
import xacro
class ScaledJointTrajectoryPublisher(Node):
def __init__(self):