Compare commits
10 Commits
a7d3eeb34e
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09644709f9
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26e6abd14f | ||
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b4ca5846d8 | ||
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87191d9221 | ||
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377ceeab15 | ||
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f1780b673c | ||
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290d853b9b | ||
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c725c3a9bf | ||
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7793fb1a8c | ||
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3e9bff103d |
@ -136,6 +136,11 @@ If everything worked, this should either move the robot or complain about it bei
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```
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2. **Install Required Python Libraries**
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```bash
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pip install osc4py3
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```
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```bash
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pip install numpy==1.22.4 scipy==1.7.3 spatialmath-python==1.1.14 roboticstoolbox-python==1.1.1 osc4py3
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```
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@ -155,7 +160,7 @@ If everything worked, this should either move the robot or complain about it bei
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3. **Clone and Build the Workspace**
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```bash
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git clone <this_repo>
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cd workspace
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cd ba-alexanderschaefer/workspace
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colcon build
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source install/setup.bash
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```
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100
painting_robot/com_node.py
Normal file
100
painting_robot/com_node.py
Normal file
@ -0,0 +1,100 @@
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import Int32
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from math import sin, cos, pi
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from trajectory_msgs.msg import JointTrajectory
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from sensor_msgs.msg import JointState
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import time
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# Adjusted joint limits based on nearest multiple of step angle
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class ArmControllerNode(Node):
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def __init__(self):
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super().__init__('arm_controller_node')
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self.subscription = self.create_subscription(
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JointTrajectory,
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'/scaled_joint_trajectory_controller/joint_trajectory',
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self.joint_trajectory_callback,
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100
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)
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self.dq1_publisher = self.create_publisher(Int32, 'dq1_steps', 10)
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self.dq2_publisher = self.create_publisher(Int32, 'dq2_steps', 10)
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self.joint_state_publisher = self.create_publisher(JointState, 'joint_states', 10)
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self.q1_min = -1.57
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self.q1_max = 1
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self.q2_min = 0.02
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self.q2_max = 2.8
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self.current_q1 = 0.00
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self.current_q2 = 1.57 # Initial joint angles
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steps_per_revolution = 200
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gear_ratio = 19.2
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self.steps_per_radian = (steps_per_revolution * gear_ratio) / (2 * pi)
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def publish_joint_state(self):
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joint_state_msg = JointState()
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joint_state_msg.header.stamp = self.get_clock().now().to_msg()
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joint_state_msg.name = ['joint_1', 'joint_2']
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joint_state_msg.position = [self.current_q1, self.current_q2]
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joint_state_msg.velocity = [0.0, 0.0]
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joint_state_msg.effort = [0.0, 0.0]
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self.joint_state_publisher.publish(joint_state_msg)
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self.ceate_timer(0.2, self.publish_joint_state)
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def joint_trajectory_callback(self, msg):
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prev_timetag = 0
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for point in msg.points:
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timetag = point.time_from_start.sec + point.time_from_start.nanosec / 1e9 - prev_timetag
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prev_timetag = point.time_from_start.sec + point.time_from_start.nanosec / 1e9
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new_q1=max(min(point.positions[0],self.q1_max),self.q1_min)
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new_q2=max(min(point.positions[1],self.q2_max),self.q2_min)
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dq1 = new_q1 - self.current_q1
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dq2 = new_q2 - self.current_q2
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dq1_steps = int(round(dq1 * self.steps_per_radian))
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dq2_steps = int(round(dq2 * self.steps_per_radian))
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self.current_q1 += dq1_steps/self.steps_per_radian
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self.current_q2 += dq2_steps/self.steps_per_radian
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dq1_steps_msg = Int32()
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dq1_steps_msg.data = dq1_steps
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self.dq1_publisher.publish(dq1_steps_msg)
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dq2_steps_msg = Int32()
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dq2_steps_msg.data = dq2_steps
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self.dq2_publisher.publish(dq2_steps_msg)
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x= 0.4 * cos(self.current_q1) + 0.25025 * cos(self.current_q1+self.current_q2)
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y= 0.4 * sin(self.current_q1) + 0.25025 * sin(self.current_q1+self.current_q2)
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self.get_logger().info(f"Steps taken: steps_q1 = {dq1_steps}, steps_q2 = {dq2_steps}")
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self.get_logger().info(f"New joint positions (in radians): q1 = {self.current_q1}, q2 = {self.current_q2}")
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self.get_logger().info(f"New x_y positions (in meters): x = {x}, y = {y}")
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self.get_logger().info(f"Duration: {timetag}")
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time.sleep(timetag)
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def main(args=None):
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try:
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rclpy.init(args=args)
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node = ArmControllerNode()
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rclpy.spin(node)
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except KeyboardInterrupt:
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print('Communication to painting robot closed')
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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38
painting_robot/painting_robot.urdf
Normal file
38
painting_robot/painting_robot.urdf
Normal file
@ -0,0 +1,38 @@
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<?xml version="1.0"?>
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<robot name="painting_robot">
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<!-- Base Link -->
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<link name="base_link"/>
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<!-- Link 1 -->
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<link name="link1"/>
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<joint name="joint1" type="revolute">
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<parent link="base_link"/>
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<child link="link1"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="10.0" velocity="0.5" lower="-1.57" upper="1"/>
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</joint>
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<!-- Link 2 -->
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<link name="link2"/>
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<joint name="joint2" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin xyz="0.4 0 0" rpy="0 0 0"/> <!-- 400.00mm from base -->
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<axis xyz="0 0 1"/>
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<limit effort="10.0" velocity="0.5" lower="0.02" upper="2.8"/>
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</joint>
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<!-- Tool endpoint -->
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<link name="tool0"/>
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<joint name="tool0_fixed_joint" type="fixed">
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<parent link="link2"/>
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<child link="tool0"/>
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<origin xyz="0.25025 0 0" rpy="0 0 0"/> <!-- TCP 250.25mm from joint2 -->
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</joint>
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</robot>
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BIN
workspace/.DS_Store
vendored
BIN
workspace/.DS_Store
vendored
Binary file not shown.
@ -1 +0,0 @@
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colcon
|
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@ -1 +0,0 @@
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0
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@ -1 +0,0 @@
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# generated from colcon_core/shell/template/command_prefix.sh.em
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@ -1,20 +0,0 @@
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AMENT_PREFIX_PATH=/BA/workspace/install/painting_robot_control:/BA/workspace/install/mock_robot:/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/BA/workspace/install/osc_ros2:/opt/ros/humble
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COLCON=1
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COLCON_PREFIX_PATH=/BA/workspace/install
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HOME=/root
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HOSTNAME=0e38e264ac6b
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LANG=C.UTF-8
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LC_ALL=C.UTF-8
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LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
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LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
|
||||
OLDPWD=/BA/workspace/src
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PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
|
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PWD=/BA/workspace/build/osc_ros2
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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:/BA/workspace/build/osc_ros2:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
|
||||
ROS_DISTRO=humble
|
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ROS_LOCALHOST_ONLY=0
|
||||
ROS_PYTHON_VERSION=3
|
||||
ROS_VERSION=2
|
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SHLVL=1
|
||||
TERM=xterm
|
||||
_=/usr/bin/colcon
|
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@ -1 +0,0 @@
|
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/BA/workspace/src/osc_ros2/osc_ros2
|
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@ -1,12 +0,0 @@
|
||||
Metadata-Version: 2.1
|
||||
Name: osc-ros2
|
||||
Version: 0.0.0
|
||||
Summary: Creates an interface for communication between OSC and Ros2
|
||||
Home-page: UNKNOWN
|
||||
Maintainer: Alexander Schaefer
|
||||
Maintainer-email: a.schaefer@tuhh.de
|
||||
License: Apache-2.0
|
||||
Platform: UNKNOWN
|
||||
|
||||
UNKNOWN
|
||||
|
||||
@ -1,13 +0,0 @@
|
||||
package.xml
|
||||
setup.cfg
|
||||
setup.py
|
||||
osc_ros2/__init__.py
|
||||
osc_ros2/osc_ros2.py
|
||||
osc_ros2.egg-info/PKG-INFO
|
||||
osc_ros2.egg-info/SOURCES.txt
|
||||
osc_ros2.egg-info/dependency_links.txt
|
||||
osc_ros2.egg-info/entry_points.txt
|
||||
osc_ros2.egg-info/requires.txt
|
||||
osc_ros2.egg-info/top_level.txt
|
||||
osc_ros2.egg-info/zip-safe
|
||||
resource/osc_ros2
|
||||
@ -1,3 +0,0 @@
|
||||
[console_scripts]
|
||||
interface = osc_ros2.osc_ros2:main
|
||||
|
||||
@ -1,7 +0,0 @@
|
||||
matplotlib==3.4.3
|
||||
numpy==1.22.4
|
||||
osc4py3
|
||||
roboticstoolbox-python==1.1.1
|
||||
scipy==1.7.3
|
||||
setuptools
|
||||
spatialmath-python==1.1.14
|
||||
@ -1 +0,0 @@
|
||||
osc_ros2
|
||||
@ -1 +0,0 @@
|
||||
|
||||
@ -1 +0,0 @@
|
||||
/BA/workspace/src/osc_ros2/package.xml
|
||||
Binary file not shown.
@ -1,4 +0,0 @@
|
||||
import sys
|
||||
if sys.prefix == '/usr':
|
||||
sys.real_prefix = sys.prefix
|
||||
sys.prefix = sys.exec_prefix = '/BA/workspace/install/osc_ros2'
|
||||
@ -1 +0,0 @@
|
||||
/BA/workspace/src/osc_ros2/resource/osc_ros2
|
||||
@ -1 +0,0 @@
|
||||
/BA/workspace/src/osc_ros2/setup.cfg
|
||||
@ -1 +0,0 @@
|
||||
/BA/workspace/src/osc_ros2/setup.py
|
||||
@ -1 +0,0 @@
|
||||
prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/osc_ros2
|
||||
@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/BA/workspace/build/osc_ros2"
|
||||
@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "/BA/workspace/build/osc_ros2"
|
||||
@ -1 +0,0 @@
|
||||
isolated
|
||||
@ -1,407 +0,0 @@
|
||||
# Copyright 2016-2019 Dirk Thomas
|
||||
# Licensed under the Apache License, Version 2.0
|
||||
|
||||
import argparse
|
||||
from collections import OrderedDict
|
||||
import os
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
|
||||
FORMAT_STR_COMMENT_LINE = '# {comment}'
|
||||
FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
|
||||
FORMAT_STR_USE_ENV_VAR = '$env:{name}'
|
||||
FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501
|
||||
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
|
||||
DSV_TYPE_SET = 'set'
|
||||
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
|
||||
DSV_TYPE_SOURCE = 'source'
|
||||
|
||||
|
||||
def main(argv=sys.argv[1:]): # noqa: D103
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Output shell commands for the packages in topological '
|
||||
'order')
|
||||
parser.add_argument(
|
||||
'primary_extension',
|
||||
help='The file extension of the primary shell')
|
||||
parser.add_argument(
|
||||
'additional_extension', nargs='?',
|
||||
help='The additional file extension to be considered')
|
||||
parser.add_argument(
|
||||
'--merged-install', action='store_true',
|
||||
help='All install prefixes are merged into a single location')
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
packages = get_packages(Path(__file__).parent, args.merged_install)
|
||||
|
||||
ordered_packages = order_packages(packages)
|
||||
for pkg_name in ordered_packages:
|
||||
if _include_comments():
|
||||
print(
|
||||
FORMAT_STR_COMMENT_LINE.format_map(
|
||||
{'comment': 'Package: ' + pkg_name}))
|
||||
prefix = os.path.abspath(os.path.dirname(__file__))
|
||||
if not args.merged_install:
|
||||
prefix = os.path.join(prefix, pkg_name)
|
||||
for line in get_commands(
|
||||
pkg_name, prefix, args.primary_extension,
|
||||
args.additional_extension
|
||||
):
|
||||
print(line)
|
||||
|
||||
for line in _remove_ending_separators():
|
||||
print(line)
|
||||
|
||||
|
||||
def get_packages(prefix_path, merged_install):
|
||||
"""
|
||||
Find packages based on colcon-specific files created during installation.
|
||||
|
||||
:param Path prefix_path: The install prefix path of all packages
|
||||
:param bool merged_install: The flag if the packages are all installed
|
||||
directly in the prefix or if each package is installed in a subdirectory
|
||||
named after the package
|
||||
:returns: A mapping from the package name to the set of runtime
|
||||
dependencies
|
||||
:rtype: dict
|
||||
"""
|
||||
packages = {}
|
||||
# since importing colcon_core isn't feasible here the following constant
|
||||
# must match colcon_core.location.get_relative_package_index_path()
|
||||
subdirectory = 'share/colcon-core/packages'
|
||||
if merged_install:
|
||||
# return if workspace is empty
|
||||
if not (prefix_path / subdirectory).is_dir():
|
||||
return packages
|
||||
# find all files in the subdirectory
|
||||
for p in (prefix_path / subdirectory).iterdir():
|
||||
if not p.is_file():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
else:
|
||||
# for each subdirectory look for the package specific file
|
||||
for p in prefix_path.iterdir():
|
||||
if not p.is_dir():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
p = p / subdirectory / p.name
|
||||
if p.is_file():
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
|
||||
# remove unknown dependencies
|
||||
pkg_names = set(packages.keys())
|
||||
for k in packages.keys():
|
||||
packages[k] = {d for d in packages[k] if d in pkg_names}
|
||||
|
||||
return packages
|
||||
|
||||
|
||||
def add_package_runtime_dependencies(path, packages):
|
||||
"""
|
||||
Check the path and if it exists extract the packages runtime dependencies.
|
||||
|
||||
:param Path path: The resource file containing the runtime dependencies
|
||||
:param dict packages: A mapping from package names to the sets of runtime
|
||||
dependencies to add to
|
||||
"""
|
||||
content = path.read_text()
|
||||
dependencies = set(content.split(os.pathsep) if content else [])
|
||||
packages[path.name] = dependencies
|
||||
|
||||
|
||||
def order_packages(packages):
|
||||
"""
|
||||
Order packages topologically.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies
|
||||
:returns: The package names
|
||||
:rtype: list
|
||||
"""
|
||||
# select packages with no dependencies in alphabetical order
|
||||
to_be_ordered = list(packages.keys())
|
||||
ordered = []
|
||||
while to_be_ordered:
|
||||
pkg_names_without_deps = [
|
||||
name for name in to_be_ordered if not packages[name]]
|
||||
if not pkg_names_without_deps:
|
||||
reduce_cycle_set(packages)
|
||||
raise RuntimeError(
|
||||
'Circular dependency between: ' + ', '.join(sorted(packages)))
|
||||
pkg_names_without_deps.sort()
|
||||
pkg_name = pkg_names_without_deps[0]
|
||||
to_be_ordered.remove(pkg_name)
|
||||
ordered.append(pkg_name)
|
||||
# remove item from dependency lists
|
||||
for k in list(packages.keys()):
|
||||
if pkg_name in packages[k]:
|
||||
packages[k].remove(pkg_name)
|
||||
return ordered
|
||||
|
||||
|
||||
def reduce_cycle_set(packages):
|
||||
"""
|
||||
Reduce the set of packages to the ones part of the circular dependency.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies which is modified in place
|
||||
"""
|
||||
last_depended = None
|
||||
while len(packages) > 0:
|
||||
# get all remaining dependencies
|
||||
depended = set()
|
||||
for pkg_name, dependencies in packages.items():
|
||||
depended = depended.union(dependencies)
|
||||
# remove all packages which are not dependent on
|
||||
for name in list(packages.keys()):
|
||||
if name not in depended:
|
||||
del packages[name]
|
||||
if last_depended:
|
||||
# if remaining packages haven't changed return them
|
||||
if last_depended == depended:
|
||||
return packages.keys()
|
||||
# otherwise reduce again
|
||||
last_depended = depended
|
||||
|
||||
|
||||
def _include_comments():
|
||||
# skipping comment lines when COLCON_TRACE is not set speeds up the
|
||||
# processing especially on Windows
|
||||
return bool(os.environ.get('COLCON_TRACE'))
|
||||
|
||||
|
||||
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
|
||||
commands = []
|
||||
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
|
||||
if os.path.exists(package_dsv_path):
|
||||
commands += process_dsv_file(
|
||||
package_dsv_path, prefix, primary_extension, additional_extension)
|
||||
return commands
|
||||
|
||||
|
||||
def process_dsv_file(
|
||||
dsv_path, prefix, primary_extension=None, additional_extension=None
|
||||
):
|
||||
commands = []
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
|
||||
with open(dsv_path, 'r') as h:
|
||||
content = h.read()
|
||||
lines = content.splitlines()
|
||||
|
||||
basenames = OrderedDict()
|
||||
for i, line in enumerate(lines):
|
||||
# skip over empty or whitespace-only lines
|
||||
if not line.strip():
|
||||
continue
|
||||
# skip over comments
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
try:
|
||||
type_, remainder = line.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' doesn't contain a semicolon separating the "
|
||||
'type from the arguments' % (i + 1, dsv_path))
|
||||
if type_ != DSV_TYPE_SOURCE:
|
||||
# handle non-source lines
|
||||
try:
|
||||
commands += handle_dsv_types_except_source(
|
||||
type_, remainder, prefix)
|
||||
except RuntimeError as e:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
|
||||
else:
|
||||
# group remaining source lines by basename
|
||||
path_without_ext, ext = os.path.splitext(remainder)
|
||||
if path_without_ext not in basenames:
|
||||
basenames[path_without_ext] = set()
|
||||
assert ext.startswith('.')
|
||||
ext = ext[1:]
|
||||
if ext in (primary_extension, additional_extension):
|
||||
basenames[path_without_ext].add(ext)
|
||||
|
||||
# add the dsv extension to each basename if the file exists
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if os.path.exists(basename + '.dsv'):
|
||||
extensions.add('dsv')
|
||||
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if 'dsv' in extensions:
|
||||
# process dsv files recursively
|
||||
commands += process_dsv_file(
|
||||
basename + '.dsv', prefix, primary_extension=primary_extension,
|
||||
additional_extension=additional_extension)
|
||||
elif primary_extension in extensions and len(extensions) == 1:
|
||||
# source primary-only files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + primary_extension})]
|
||||
elif additional_extension in extensions:
|
||||
# source non-primary files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + additional_extension})]
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def handle_dsv_types_except_source(type_, remainder, prefix):
|
||||
commands = []
|
||||
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
|
||||
try:
|
||||
env_name, value = remainder.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the value')
|
||||
try_prefixed_value = os.path.join(prefix, value) if value else prefix
|
||||
if os.path.exists(try_prefixed_value):
|
||||
value = try_prefixed_value
|
||||
if type_ == DSV_TYPE_SET:
|
||||
commands += _set(env_name, value)
|
||||
elif type_ == DSV_TYPE_SET_IF_UNSET:
|
||||
commands += _set_if_unset(env_name, value)
|
||||
else:
|
||||
assert False
|
||||
elif type_ in (
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
|
||||
):
|
||||
try:
|
||||
env_name_and_values = remainder.split(';')
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the values')
|
||||
env_name = env_name_and_values[0]
|
||||
values = env_name_and_values[1:]
|
||||
for value in values:
|
||||
if not value:
|
||||
value = prefix
|
||||
elif not os.path.isabs(value):
|
||||
value = os.path.join(prefix, value)
|
||||
if (
|
||||
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
|
||||
not os.path.exists(value)
|
||||
):
|
||||
comment = f'skip extending {env_name} with not existing ' \
|
||||
f'path: {value}'
|
||||
if _include_comments():
|
||||
commands.append(
|
||||
FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
|
||||
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
|
||||
commands += _append_unique_value(env_name, value)
|
||||
else:
|
||||
commands += _prepend_unique_value(env_name, value)
|
||||
else:
|
||||
raise RuntimeError(
|
||||
'contains an unknown environment hook type: ' + type_)
|
||||
return commands
|
||||
|
||||
|
||||
env_state = {}
|
||||
|
||||
|
||||
def _append_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# append even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional leading separator
|
||||
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': extend + value})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
def _prepend_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# prepend even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional trailing separator
|
||||
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value + extend})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
# generate commands for removing prepended underscores
|
||||
def _remove_ending_separators():
|
||||
# do nothing if the shell extension does not implement the logic
|
||||
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
|
||||
return []
|
||||
|
||||
global env_state
|
||||
commands = []
|
||||
for name in env_state:
|
||||
# skip variables that already had values before this script started prepending
|
||||
if name in os.environ:
|
||||
continue
|
||||
commands += [
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
|
||||
return commands
|
||||
|
||||
|
||||
def _set(name, value):
|
||||
global env_state
|
||||
env_state[name] = value
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
return [line]
|
||||
|
||||
|
||||
def _set_if_unset(name, value):
|
||||
global env_state
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
if env_state.get(name, os.environ.get(name)):
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
if __name__ == '__main__': # pragma: no cover
|
||||
try:
|
||||
rc = main()
|
||||
except RuntimeError as e:
|
||||
print(str(e), file=sys.stderr)
|
||||
rc = 1
|
||||
sys.exit(rc)
|
||||
@ -1,407 +0,0 @@
|
||||
# Copyright 2016-2019 Dirk Thomas
|
||||
# Licensed under the Apache License, Version 2.0
|
||||
|
||||
import argparse
|
||||
from collections import OrderedDict
|
||||
import os
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
|
||||
FORMAT_STR_COMMENT_LINE = '# {comment}'
|
||||
FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
|
||||
FORMAT_STR_USE_ENV_VAR = '${name}'
|
||||
FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501
|
||||
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
|
||||
DSV_TYPE_SET = 'set'
|
||||
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
|
||||
DSV_TYPE_SOURCE = 'source'
|
||||
|
||||
|
||||
def main(argv=sys.argv[1:]): # noqa: D103
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Output shell commands for the packages in topological '
|
||||
'order')
|
||||
parser.add_argument(
|
||||
'primary_extension',
|
||||
help='The file extension of the primary shell')
|
||||
parser.add_argument(
|
||||
'additional_extension', nargs='?',
|
||||
help='The additional file extension to be considered')
|
||||
parser.add_argument(
|
||||
'--merged-install', action='store_true',
|
||||
help='All install prefixes are merged into a single location')
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
packages = get_packages(Path(__file__).parent, args.merged_install)
|
||||
|
||||
ordered_packages = order_packages(packages)
|
||||
for pkg_name in ordered_packages:
|
||||
if _include_comments():
|
||||
print(
|
||||
FORMAT_STR_COMMENT_LINE.format_map(
|
||||
{'comment': 'Package: ' + pkg_name}))
|
||||
prefix = os.path.abspath(os.path.dirname(__file__))
|
||||
if not args.merged_install:
|
||||
prefix = os.path.join(prefix, pkg_name)
|
||||
for line in get_commands(
|
||||
pkg_name, prefix, args.primary_extension,
|
||||
args.additional_extension
|
||||
):
|
||||
print(line)
|
||||
|
||||
for line in _remove_ending_separators():
|
||||
print(line)
|
||||
|
||||
|
||||
def get_packages(prefix_path, merged_install):
|
||||
"""
|
||||
Find packages based on colcon-specific files created during installation.
|
||||
|
||||
:param Path prefix_path: The install prefix path of all packages
|
||||
:param bool merged_install: The flag if the packages are all installed
|
||||
directly in the prefix or if each package is installed in a subdirectory
|
||||
named after the package
|
||||
:returns: A mapping from the package name to the set of runtime
|
||||
dependencies
|
||||
:rtype: dict
|
||||
"""
|
||||
packages = {}
|
||||
# since importing colcon_core isn't feasible here the following constant
|
||||
# must match colcon_core.location.get_relative_package_index_path()
|
||||
subdirectory = 'share/colcon-core/packages'
|
||||
if merged_install:
|
||||
# return if workspace is empty
|
||||
if not (prefix_path / subdirectory).is_dir():
|
||||
return packages
|
||||
# find all files in the subdirectory
|
||||
for p in (prefix_path / subdirectory).iterdir():
|
||||
if not p.is_file():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
else:
|
||||
# for each subdirectory look for the package specific file
|
||||
for p in prefix_path.iterdir():
|
||||
if not p.is_dir():
|
||||
continue
|
||||
if p.name.startswith('.'):
|
||||
continue
|
||||
p = p / subdirectory / p.name
|
||||
if p.is_file():
|
||||
add_package_runtime_dependencies(p, packages)
|
||||
|
||||
# remove unknown dependencies
|
||||
pkg_names = set(packages.keys())
|
||||
for k in packages.keys():
|
||||
packages[k] = {d for d in packages[k] if d in pkg_names}
|
||||
|
||||
return packages
|
||||
|
||||
|
||||
def add_package_runtime_dependencies(path, packages):
|
||||
"""
|
||||
Check the path and if it exists extract the packages runtime dependencies.
|
||||
|
||||
:param Path path: The resource file containing the runtime dependencies
|
||||
:param dict packages: A mapping from package names to the sets of runtime
|
||||
dependencies to add to
|
||||
"""
|
||||
content = path.read_text()
|
||||
dependencies = set(content.split(os.pathsep) if content else [])
|
||||
packages[path.name] = dependencies
|
||||
|
||||
|
||||
def order_packages(packages):
|
||||
"""
|
||||
Order packages topologically.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies
|
||||
:returns: The package names
|
||||
:rtype: list
|
||||
"""
|
||||
# select packages with no dependencies in alphabetical order
|
||||
to_be_ordered = list(packages.keys())
|
||||
ordered = []
|
||||
while to_be_ordered:
|
||||
pkg_names_without_deps = [
|
||||
name for name in to_be_ordered if not packages[name]]
|
||||
if not pkg_names_without_deps:
|
||||
reduce_cycle_set(packages)
|
||||
raise RuntimeError(
|
||||
'Circular dependency between: ' + ', '.join(sorted(packages)))
|
||||
pkg_names_without_deps.sort()
|
||||
pkg_name = pkg_names_without_deps[0]
|
||||
to_be_ordered.remove(pkg_name)
|
||||
ordered.append(pkg_name)
|
||||
# remove item from dependency lists
|
||||
for k in list(packages.keys()):
|
||||
if pkg_name in packages[k]:
|
||||
packages[k].remove(pkg_name)
|
||||
return ordered
|
||||
|
||||
|
||||
def reduce_cycle_set(packages):
|
||||
"""
|
||||
Reduce the set of packages to the ones part of the circular dependency.
|
||||
|
||||
:param dict packages: A mapping from package name to the set of runtime
|
||||
dependencies which is modified in place
|
||||
"""
|
||||
last_depended = None
|
||||
while len(packages) > 0:
|
||||
# get all remaining dependencies
|
||||
depended = set()
|
||||
for pkg_name, dependencies in packages.items():
|
||||
depended = depended.union(dependencies)
|
||||
# remove all packages which are not dependent on
|
||||
for name in list(packages.keys()):
|
||||
if name not in depended:
|
||||
del packages[name]
|
||||
if last_depended:
|
||||
# if remaining packages haven't changed return them
|
||||
if last_depended == depended:
|
||||
return packages.keys()
|
||||
# otherwise reduce again
|
||||
last_depended = depended
|
||||
|
||||
|
||||
def _include_comments():
|
||||
# skipping comment lines when COLCON_TRACE is not set speeds up the
|
||||
# processing especially on Windows
|
||||
return bool(os.environ.get('COLCON_TRACE'))
|
||||
|
||||
|
||||
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
|
||||
commands = []
|
||||
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
|
||||
if os.path.exists(package_dsv_path):
|
||||
commands += process_dsv_file(
|
||||
package_dsv_path, prefix, primary_extension, additional_extension)
|
||||
return commands
|
||||
|
||||
|
||||
def process_dsv_file(
|
||||
dsv_path, prefix, primary_extension=None, additional_extension=None
|
||||
):
|
||||
commands = []
|
||||
if _include_comments():
|
||||
commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
|
||||
with open(dsv_path, 'r') as h:
|
||||
content = h.read()
|
||||
lines = content.splitlines()
|
||||
|
||||
basenames = OrderedDict()
|
||||
for i, line in enumerate(lines):
|
||||
# skip over empty or whitespace-only lines
|
||||
if not line.strip():
|
||||
continue
|
||||
# skip over comments
|
||||
if line.startswith('#'):
|
||||
continue
|
||||
try:
|
||||
type_, remainder = line.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' doesn't contain a semicolon separating the "
|
||||
'type from the arguments' % (i + 1, dsv_path))
|
||||
if type_ != DSV_TYPE_SOURCE:
|
||||
# handle non-source lines
|
||||
try:
|
||||
commands += handle_dsv_types_except_source(
|
||||
type_, remainder, prefix)
|
||||
except RuntimeError as e:
|
||||
raise RuntimeError(
|
||||
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
|
||||
else:
|
||||
# group remaining source lines by basename
|
||||
path_without_ext, ext = os.path.splitext(remainder)
|
||||
if path_without_ext not in basenames:
|
||||
basenames[path_without_ext] = set()
|
||||
assert ext.startswith('.')
|
||||
ext = ext[1:]
|
||||
if ext in (primary_extension, additional_extension):
|
||||
basenames[path_without_ext].add(ext)
|
||||
|
||||
# add the dsv extension to each basename if the file exists
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if os.path.exists(basename + '.dsv'):
|
||||
extensions.add('dsv')
|
||||
|
||||
for basename, extensions in basenames.items():
|
||||
if not os.path.isabs(basename):
|
||||
basename = os.path.join(prefix, basename)
|
||||
if 'dsv' in extensions:
|
||||
# process dsv files recursively
|
||||
commands += process_dsv_file(
|
||||
basename + '.dsv', prefix, primary_extension=primary_extension,
|
||||
additional_extension=additional_extension)
|
||||
elif primary_extension in extensions and len(extensions) == 1:
|
||||
# source primary-only files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + primary_extension})]
|
||||
elif additional_extension in extensions:
|
||||
# source non-primary files
|
||||
commands += [
|
||||
FORMAT_STR_INVOKE_SCRIPT.format_map({
|
||||
'prefix': prefix,
|
||||
'script_path': basename + '.' + additional_extension})]
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def handle_dsv_types_except_source(type_, remainder, prefix):
|
||||
commands = []
|
||||
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
|
||||
try:
|
||||
env_name, value = remainder.split(';', 1)
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the value')
|
||||
try_prefixed_value = os.path.join(prefix, value) if value else prefix
|
||||
if os.path.exists(try_prefixed_value):
|
||||
value = try_prefixed_value
|
||||
if type_ == DSV_TYPE_SET:
|
||||
commands += _set(env_name, value)
|
||||
elif type_ == DSV_TYPE_SET_IF_UNSET:
|
||||
commands += _set_if_unset(env_name, value)
|
||||
else:
|
||||
assert False
|
||||
elif type_ in (
|
||||
DSV_TYPE_APPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE,
|
||||
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
|
||||
):
|
||||
try:
|
||||
env_name_and_values = remainder.split(';')
|
||||
except ValueError:
|
||||
raise RuntimeError(
|
||||
"doesn't contain a semicolon separating the environment name "
|
||||
'from the values')
|
||||
env_name = env_name_and_values[0]
|
||||
values = env_name_and_values[1:]
|
||||
for value in values:
|
||||
if not value:
|
||||
value = prefix
|
||||
elif not os.path.isabs(value):
|
||||
value = os.path.join(prefix, value)
|
||||
if (
|
||||
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
|
||||
not os.path.exists(value)
|
||||
):
|
||||
comment = f'skip extending {env_name} with not existing ' \
|
||||
f'path: {value}'
|
||||
if _include_comments():
|
||||
commands.append(
|
||||
FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
|
||||
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
|
||||
commands += _append_unique_value(env_name, value)
|
||||
else:
|
||||
commands += _prepend_unique_value(env_name, value)
|
||||
else:
|
||||
raise RuntimeError(
|
||||
'contains an unknown environment hook type: ' + type_)
|
||||
return commands
|
||||
|
||||
|
||||
env_state = {}
|
||||
|
||||
|
||||
def _append_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# append even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional leading separator
|
||||
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': extend + value})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
def _prepend_unique_value(name, value):
|
||||
global env_state
|
||||
if name not in env_state:
|
||||
if os.environ.get(name):
|
||||
env_state[name] = set(os.environ[name].split(os.pathsep))
|
||||
else:
|
||||
env_state[name] = set()
|
||||
# prepend even if the variable has not been set yet, in case a shell script sets the
|
||||
# same variable without the knowledge of this Python script.
|
||||
# later _remove_ending_separators() will cleanup any unintentional trailing separator
|
||||
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value + extend})
|
||||
if value not in env_state[name]:
|
||||
env_state[name].add(value)
|
||||
else:
|
||||
if not _include_comments():
|
||||
return []
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
# generate commands for removing prepended underscores
|
||||
def _remove_ending_separators():
|
||||
# do nothing if the shell extension does not implement the logic
|
||||
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
|
||||
return []
|
||||
|
||||
global env_state
|
||||
commands = []
|
||||
for name in env_state:
|
||||
# skip variables that already had values before this script started prepending
|
||||
if name in os.environ:
|
||||
continue
|
||||
commands += [
|
||||
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
|
||||
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
|
||||
return commands
|
||||
|
||||
|
||||
def _set(name, value):
|
||||
global env_state
|
||||
env_state[name] = value
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
return [line]
|
||||
|
||||
|
||||
def _set_if_unset(name, value):
|
||||
global env_state
|
||||
line = FORMAT_STR_SET_ENV_VAR.format_map(
|
||||
{'name': name, 'value': value})
|
||||
if env_state.get(name, os.environ.get(name)):
|
||||
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
|
||||
return [line]
|
||||
|
||||
|
||||
if __name__ == '__main__': # pragma: no cover
|
||||
try:
|
||||
rc = main()
|
||||
except RuntimeError as e:
|
||||
print(str(e), file=sys.stderr)
|
||||
rc = 1
|
||||
sys.exit(rc)
|
||||
@ -1,121 +0,0 @@
|
||||
# generated from colcon_bash/shell/template/prefix.bash.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prefix_bash_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
_contained_value=""
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_contained_value=1
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
if [ -z "$_contained_value" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
if [ "$_all_values" = "$_value" ]; then
|
||||
echo "export $_listname=$_value"
|
||||
else
|
||||
echo "export $_listname=$_value:\$$_listname"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset _contained_value
|
||||
# restore the field separator
|
||||
IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
|
||||
unset _colcon_prefix_bash_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# add this prefix to the COLCON_PREFIX_PATH
|
||||
_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
|
||||
unset _colcon_prefix_bash_prepend_unique_value
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
|
||||
else
|
||||
# try the Python executable known at configure time
|
||||
_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if [ ! -f "$_colcon_python_executable" ]; then
|
||||
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
|
||||
echo "error: unable to find python3 executable"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
|
||||
unset _colcon_python_executable
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "$(declare -f _colcon_prefix_sh_source_script)"
|
||||
echo "# Execute generated script:"
|
||||
echo "# <<<"
|
||||
echo "${_colcon_ordered_commands}"
|
||||
echo "# >>>"
|
||||
echo "unset _colcon_prefix_sh_source_script"
|
||||
fi
|
||||
eval "${_colcon_ordered_commands}"
|
||||
unset _colcon_ordered_commands
|
||||
|
||||
unset _colcon_prefix_sh_source_script
|
||||
|
||||
unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
|
||||
@ -1,55 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/prefix.ps1.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if ($env:COLCON_PYTHON_EXECUTABLE) {
|
||||
if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
exit 1
|
||||
}
|
||||
$_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
|
||||
} else {
|
||||
# use the Python executable known at configure time
|
||||
$_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
|
||||
if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
|
||||
echo "error: unable to find python3 executable"
|
||||
exit 1
|
||||
}
|
||||
$_colcon_python_executable="python3"
|
||||
}
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
function _colcon_prefix_powershell_source_script {
|
||||
param (
|
||||
$_colcon_prefix_powershell_source_script_param
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_prefix_powershell_source_script_param) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_prefix_powershell_source_script_param'"
|
||||
}
|
||||
. "$_colcon_prefix_powershell_source_script_param"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
|
||||
}
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
|
||||
|
||||
# execute all commands in topological order
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo "Execute generated script:"
|
||||
echo "<<<"
|
||||
$_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
|
||||
echo ">>>"
|
||||
}
|
||||
if ($_colcon_ordered_commands) {
|
||||
$_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
|
||||
}
|
||||
@ -1,137 +0,0 @@
|
||||
# generated from colcon_core/shell/template/prefix.sh.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
else
|
||||
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prefix_sh_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
_contained_value=""
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_contained_value=1
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
if [ -z "$_contained_value" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
if [ "$_all_values" = "$_value" ]; then
|
||||
echo "export $_listname=$_value"
|
||||
else
|
||||
echo "export $_listname=$_value:\$$_listname"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset _contained_value
|
||||
# restore the field separator
|
||||
IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
|
||||
unset _colcon_prefix_sh_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# add this prefix to the COLCON_PREFIX_PATH
|
||||
_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
|
||||
unset _colcon_prefix_sh_prepend_unique_value
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
|
||||
else
|
||||
# try the Python executable known at configure time
|
||||
_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if [ ! -f "$_colcon_python_executable" ]; then
|
||||
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
|
||||
echo "error: unable to find python3 executable"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
|
||||
unset _colcon_python_executable
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "_colcon_prefix_sh_source_script() {
|
||||
if [ -f \"\$1\" ]; then
|
||||
if [ -n \"\$COLCON_TRACE\" ]; then
|
||||
echo \"# . \\\"\$1\\\"\"
|
||||
fi
|
||||
. \"\$1\"
|
||||
else
|
||||
echo \"not found: \\\"\$1\\\"\" 1>&2
|
||||
fi
|
||||
}"
|
||||
echo "# Execute generated script:"
|
||||
echo "# <<<"
|
||||
echo "${_colcon_ordered_commands}"
|
||||
echo "# >>>"
|
||||
echo "unset _colcon_prefix_sh_source_script"
|
||||
fi
|
||||
eval "${_colcon_ordered_commands}"
|
||||
unset _colcon_ordered_commands
|
||||
|
||||
unset _colcon_prefix_sh_source_script
|
||||
|
||||
unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
|
||||
@ -1,134 +0,0 @@
|
||||
# generated from colcon_zsh/shell/template/prefix.zsh.em
|
||||
|
||||
# This script extends the environment with all packages contained in this
|
||||
# prefix path.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
_colcon_prefix_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prefix_zsh_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
_contained_value=""
|
||||
# workaround SH_WORD_SPLIT not being set
|
||||
_colcon_prefix_zsh_convert_to_array _values
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_contained_value=1
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
if [ -z "$_contained_value" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
if [ "$_all_values" = "$_value" ]; then
|
||||
echo "export $_listname=$_value"
|
||||
else
|
||||
echo "export $_listname=$_value:\$$_listname"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset _contained_value
|
||||
# restore the field separator
|
||||
IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
|
||||
unset _colcon_prefix_zsh_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# add this prefix to the COLCON_PREFIX_PATH
|
||||
_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
|
||||
unset _colcon_prefix_zsh_prepend_unique_value
|
||||
unset _colcon_prefix_zsh_convert_to_array
|
||||
|
||||
# check environment variable for custom Python executable
|
||||
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
|
||||
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
|
||||
else
|
||||
# try the Python executable known at configure time
|
||||
_colcon_python_executable="/usr/bin/python3"
|
||||
# if it doesn't exist try a fall back
|
||||
if [ ! -f "$_colcon_python_executable" ]; then
|
||||
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
|
||||
echo "error: unable to find python3 executable"
|
||||
return 1
|
||||
fi
|
||||
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# get all commands in topological order
|
||||
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
|
||||
unset _colcon_python_executable
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "$(declare -f _colcon_prefix_sh_source_script)"
|
||||
echo "# Execute generated script:"
|
||||
echo "# <<<"
|
||||
echo "${_colcon_ordered_commands}"
|
||||
echo "# >>>"
|
||||
echo "unset _colcon_prefix_sh_source_script"
|
||||
fi
|
||||
eval "${_colcon_ordered_commands}"
|
||||
unset _colcon_ordered_commands
|
||||
|
||||
unset _colcon_prefix_sh_source_script
|
||||
|
||||
unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
|
||||
@ -1,33 +0,0 @@
|
||||
#!/usr/bin/python3
|
||||
# EASY-INSTALL-ENTRY-SCRIPT: 'osc-ros2','console_scripts','interface'
|
||||
import re
|
||||
import sys
|
||||
|
||||
# for compatibility with easy_install; see #2198
|
||||
__requires__ = 'osc-ros2'
|
||||
|
||||
try:
|
||||
from importlib.metadata import distribution
|
||||
except ImportError:
|
||||
try:
|
||||
from importlib_metadata import distribution
|
||||
except ImportError:
|
||||
from pkg_resources import load_entry_point
|
||||
|
||||
|
||||
def importlib_load_entry_point(spec, group, name):
|
||||
dist_name, _, _ = spec.partition('==')
|
||||
matches = (
|
||||
entry_point
|
||||
for entry_point in distribution(dist_name).entry_points
|
||||
if entry_point.group == group and entry_point.name == name
|
||||
)
|
||||
return next(matches).load()
|
||||
|
||||
|
||||
globals().setdefault('load_entry_point', importlib_load_entry_point)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||
sys.exit(load_entry_point('osc-ros2', 'console_scripts', 'interface')())
|
||||
@ -1,2 +0,0 @@
|
||||
/BA/workspace/build/osc_ros2
|
||||
.
|
||||
@ -1 +0,0 @@
|
||||
/BA/workspace/build/osc_ros2/resource/osc_ros2
|
||||
@ -1 +0,0 @@
|
||||
rclpy
|
||||
@ -1 +0,0 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
@ -1 +0,0 @@
|
||||
prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
|
||||
@ -1,3 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"
|
||||
@ -1,3 +0,0 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
|
||||
@ -1,31 +0,0 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/osc_ros2/package.sh"
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@ -1,9 +0,0 @@
|
||||
source;share/osc_ros2/hook/pythonpath.ps1
|
||||
source;share/osc_ros2/hook/pythonpath.dsv
|
||||
source;share/osc_ros2/hook/pythonpath.sh
|
||||
source;share/osc_ros2/hook/ament_prefix_path.ps1
|
||||
source;share/osc_ros2/hook/ament_prefix_path.dsv
|
||||
source;share/osc_ros2/hook/ament_prefix_path.sh
|
||||
source;../../build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.ps1
|
||||
source;../../build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.dsv
|
||||
source;../../build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.sh
|
||||
@ -1,117 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/package.ps1.em
|
||||
|
||||
# function to append a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as leading separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_append_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
$_duplicate=""
|
||||
# start with no values
|
||||
$_all_values=""
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(";") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -eq $_value) {
|
||||
$_duplicate="1"
|
||||
}
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values};$_"
|
||||
} else {
|
||||
$_all_values="$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# append only non-duplicates
|
||||
if (!$_duplicate) {
|
||||
# avoid leading separator
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values};${_value}"
|
||||
} else {
|
||||
$_all_values="${_value}"
|
||||
}
|
||||
}
|
||||
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_prepend_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
# start with the new value
|
||||
$_all_values="$_value"
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(";") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -ne $_value) {
|
||||
# keep non-duplicate values
|
||||
$_all_values="${_all_values};$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
function colcon_package_source_powershell_script {
|
||||
param (
|
||||
$_colcon_package_source_powershell_script
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_package_source_powershell_script) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
. "$_colcon_package_source_powershell_script"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# a powershell script is able to determine its own path
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
|
||||
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/osc_ros2/hook/pythonpath.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/osc_ros2/hook/ament_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\../../build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@ -1,88 +0,0 @@
|
||||
# generated from colcon_core/shell/template/package.sh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
# workaround SH_WORD_SPLIT not being set in zsh
|
||||
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
|
||||
colcon_zsh_convert_to_array _values
|
||||
fi
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
# restore the field separator
|
||||
IFS=$_colcon_prepend_unique_value_IFS
|
||||
unset _colcon_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_package_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install/osc_ros2"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh hooks
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/osc_ros2/hook/pythonpath.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/osc_ros2/hook/ament_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@ -1 +0,0 @@
|
||||
/BA/workspace/build/osc_ros2/package.xml
|
||||
@ -1,42 +0,0 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
colcon_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/osc_ros2/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@ -1,31 +0,0 @@
|
||||
# generated from colcon_bash/shell/template/prefix_chain.bash.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_chain_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
|
||||
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
unset _colcon_prefix_chain_bash_source_script
|
||||
@ -1,29 +0,0 @@
|
||||
# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
function _colcon_prefix_chain_powershell_source_script {
|
||||
param (
|
||||
$_colcon_prefix_chain_powershell_source_script_param
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
|
||||
}
|
||||
. "$_colcon_prefix_chain_powershell_source_script_param"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
|
||||
}
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
|
||||
|
||||
# source this prefix
|
||||
$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
|
||||
_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
|
||||
@ -1,45 +0,0 @@
|
||||
# generated from colcon_core/shell/template/prefix_chain.sh.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/workspace/install
|
||||
if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_chain_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
|
||||
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
|
||||
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
|
||||
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
|
||||
|
||||
unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
|
||||
unset _colcon_prefix_chain_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
@ -1,31 +0,0 @@
|
||||
# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
|
||||
|
||||
# This script extends the environment with the environment of other prefix
|
||||
# paths which were sourced when this file was generated as well as all packages
|
||||
# contained in this prefix path.
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
_colcon_prefix_chain_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$1"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source chained prefixes
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="/opt/ros/humble"
|
||||
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
|
||||
|
||||
# source this prefix
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
|
||||
COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
|
||||
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
unset _colcon_prefix_chain_zsh_source_script
|
||||
@ -1,41 +0,0 @@
|
||||
[0.000000] (-) TimerEvent: {}
|
||||
[0.002571] (osc_ros2) JobQueued: {'identifier': 'osc_ros2', 'dependencies': OrderedDict()}
|
||||
[0.002870] (osc_ros2) JobStarted: {'identifier': 'osc_ros2'}
|
||||
[0.098385] (-) TimerEvent: {}
|
||||
[0.199359] (-) TimerEvent: {}
|
||||
[0.303463] (-) TimerEvent: {}
|
||||
[0.405455] (-) TimerEvent: {}
|
||||
[0.509296] (-) TimerEvent: {}
|
||||
[0.611479] (-) TimerEvent: {}
|
||||
[0.716450] (-) TimerEvent: {}
|
||||
[0.779654] (osc_ros2) 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', '/BA/workspace/build/osc_ros2/build', '--no-deps', 'symlink_data'], 'cwd': '/BA/workspace/build/osc_ros2', 'env': {'HOSTNAME': '0e38e264ac6b', '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': '/BA/workspace/src', 'ROS_PYTHON_VERSION': '3', 'COLCON_PREFIX_PATH': '/BA/workspace/install', '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': '/BA/workspace/install/painting_robot_control:/BA/workspace/install/mock_robot:/BA/workspace/install/joint_info:/BA/workspace/install/joint_control:/BA/workspace/install/osc_ros2:/opt/ros/humble', 'PWD': '/BA/workspace/build/osc_ros2', 'LC_ALL': 'C.UTF-8', 'PYTHONPATH': '/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:/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:/BA/workspace/build/osc_ros2:/BA/workspace/install/osc_ros2/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}
|
||||
[0.817241] (-) TimerEvent: {}
|
||||
[0.918255] (-) TimerEvent: {}
|
||||
[1.022260] (-) TimerEvent: {}
|
||||
[1.098407] (osc_ros2) StdoutLine: {'line': b'running develop\n'}
|
||||
[1.123430] (-) TimerEvent: {}
|
||||
[1.190061] (osc_ros2) StdoutLine: {'line': b'running egg_info\n'}
|
||||
[1.190684] (osc_ros2) StdoutLine: {'line': b'creating osc_ros2.egg-info\n'}
|
||||
[1.191366] (osc_ros2) StdoutLine: {'line': b'writing osc_ros2.egg-info/PKG-INFO\n'}
|
||||
[1.192005] (osc_ros2) StdoutLine: {'line': b'writing dependency_links to osc_ros2.egg-info/dependency_links.txt\n'}
|
||||
[1.192508] (osc_ros2) StdoutLine: {'line': b'writing entry points to osc_ros2.egg-info/entry_points.txt\n'}
|
||||
[1.192936] (osc_ros2) StdoutLine: {'line': b'writing requirements to osc_ros2.egg-info/requires.txt\n'}
|
||||
[1.193414] (osc_ros2) StdoutLine: {'line': b'writing top-level names to osc_ros2.egg-info/top_level.txt\n'}
|
||||
[1.193787] (osc_ros2) StdoutLine: {'line': b"writing manifest file 'osc_ros2.egg-info/SOURCES.txt'\n"}
|
||||
[1.196786] (osc_ros2) StdoutLine: {'line': b"reading manifest file 'osc_ros2.egg-info/SOURCES.txt'\n"}
|
||||
[1.197888] (osc_ros2) StdoutLine: {'line': b"writing manifest file 'osc_ros2.egg-info/SOURCES.txt'\n"}
|
||||
[1.199336] (osc_ros2) StdoutLine: {'line': b'running build_ext\n'}
|
||||
[1.199670] (osc_ros2) StdoutLine: {'line': b'Creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc-ros2.egg-link (link to .)\n'}
|
||||
[1.200725] (osc_ros2) StdoutLine: {'line': b'Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2\n'}
|
||||
[1.202175] (osc_ros2) StdoutLine: {'line': b'\n'}
|
||||
[1.202459] (osc_ros2) StdoutLine: {'line': b'Installed /BA/workspace/build/osc_ros2\n'}
|
||||
[1.202671] (osc_ros2) StdoutLine: {'line': b'running symlink_data\n'}
|
||||
[1.203115] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index\n'}
|
||||
[1.203345] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index\n'}
|
||||
[1.203713] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages\n'}
|
||||
[1.203869] (osc_ros2) StdoutLine: {'line': b'symbolically linking /BA/workspace/build/osc_ros2/resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages\n'}
|
||||
[1.205307] (osc_ros2) StdoutLine: {'line': b'symbolically linking /BA/workspace/build/osc_ros2/package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2\n'}
|
||||
[1.224499] (-) TimerEvent: {}
|
||||
[1.225266] (osc_ros2) CommandEnded: {'returncode': 0}
|
||||
[1.246871] (osc_ros2) JobEnded: {'identifier': 'osc_ros2', 'rc': 0}
|
||||
[1.248599] (-) EventReactorShutdown: {}
|
||||
@ -1,134 +0,0 @@
|
||||
[0.135s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--symlink-install']
|
||||
[0.136s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7ffffe1ff040>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ffffe2e7fd0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ffffe2e7fd0>>, mixin_verb=('build',))
|
||||
[0.259s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
|
||||
[0.259s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta'
|
||||
[0.260s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta'
|
||||
[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
|
||||
[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
|
||||
[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
|
||||
[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
|
||||
[0.260s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
|
||||
[0.260s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/BA/workspace'
|
||||
[0.260s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
|
||||
[0.261s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
|
||||
[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
|
||||
[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
|
||||
[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
|
||||
[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
|
||||
[0.272s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
|
||||
[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
|
||||
[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
|
||||
[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
|
||||
[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
|
||||
[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
|
||||
[0.273s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
|
||||
[0.274s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
|
||||
[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
|
||||
[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
|
||||
[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
|
||||
[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
|
||||
[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
|
||||
[0.275s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['ignore', 'ignore_ament_install']
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ignore'
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ignore_ament_install'
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['colcon_pkg']
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'colcon_pkg'
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['colcon_meta']
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'colcon_meta'
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['ros']
|
||||
[0.276s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ros'
|
||||
[0.282s] DEBUG:colcon.colcon_core.package_identification:Package 'src/osc_ros2' with type 'ros.ament_python' and name 'osc_ros2'
|
||||
[0.282s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
|
||||
[0.282s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
|
||||
[0.282s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
|
||||
[0.282s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
|
||||
[0.282s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_args' from command line to 'None'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_target' from command line to 'None'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_clean_cache' from command line to 'False'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_clean_first' from command line to 'False'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_force_configure' from command line to 'False'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'ament_cmake_args' from command line to 'None'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'catkin_cmake_args' from command line to 'None'
|
||||
[0.304s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'catkin_skip_building_tests' from command line to 'False'
|
||||
[0.304s] DEBUG:colcon.colcon_core.verb:Building package 'osc_ros2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/BA/workspace/build/osc_ros2', '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': '/BA/workspace/install/osc_ros2', 'merge_install': False, 'path': '/BA/workspace/src/osc_ros2', 'symlink_install': True, 'test_result_base': None}
|
||||
[0.304s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
|
||||
[0.308s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
|
||||
[0.309s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/BA/workspace/src/osc_ros2' with build type 'ament_python'
|
||||
[0.309s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'ament_prefix_path')
|
||||
[0.311s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
|
||||
[0.312s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1'
|
||||
[0.314s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv'
|
||||
[0.314s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh'
|
||||
[0.315s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
|
||||
[0.315s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
|
||||
[0.316s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/BA/workspace/install/painting_robot_control' in the environment variable AMENT_PREFIX_PATH doesn't exist
|
||||
[0.316s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/BA/workspace/install/mock_robot' in the environment variable AMENT_PREFIX_PATH doesn't exist
|
||||
[0.317s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/BA/workspace/install/joint_info' in the environment variable AMENT_PREFIX_PATH doesn't exist
|
||||
[0.317s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/BA/workspace/install/joint_control' in the environment variable AMENT_PREFIX_PATH doesn't exist
|
||||
[0.630s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/BA/workspace/src/osc_ros2'
|
||||
[0.631s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
|
||||
[0.631s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
|
||||
[1.098s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/BA/workspace/build/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/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 /BA/workspace/build/osc_ros2/build --no-deps symlink_data
|
||||
[1.535s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'pythonpath_develop')
|
||||
[1.535s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.ps1'
|
||||
[1.536s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/BA/workspace/build/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/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 /BA/workspace/build/osc_ros2/build --no-deps symlink_data
|
||||
[1.537s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.dsv'
|
||||
[1.538s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.sh'
|
||||
[1.541s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2' for CMake module files
|
||||
[1.543s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2' for CMake config files
|
||||
[1.547s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib'
|
||||
[1.547s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/bin'
|
||||
[1.547s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib/pkgconfig/osc_ros2.pc'
|
||||
[1.548s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib/python3.10/site-packages'
|
||||
[1.548s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'pythonpath')
|
||||
[1.548s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1'
|
||||
[1.549s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv'
|
||||
[1.550s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh'
|
||||
[1.550s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/bin'
|
||||
[1.550s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(osc_ros2)
|
||||
[1.551s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.ps1'
|
||||
[1.552s] INFO:colcon.colcon_core.shell:Creating package descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/package.dsv'
|
||||
[1.553s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.sh'
|
||||
[1.553s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.bash'
|
||||
[1.554s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.zsh'
|
||||
[1.555s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/BA/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2)
|
||||
[1.557s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
|
||||
[1.557s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
|
||||
[1.557s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
|
||||
[1.557s] DEBUG:colcon.colcon_core.event_reactor:joining thread
|
||||
[1.572s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
|
||||
[1.572s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
|
||||
[1.572s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
|
||||
[1.572s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
|
||||
[1.574s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.NotSupported: Unable to autolaunch a dbus-daemon without a $DISPLAY for X11
|
||||
[1.574s] DEBUG:colcon.colcon_core.event_reactor:joined thread
|
||||
[1.574s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.ps1'
|
||||
[1.576s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/workspace/install/_local_setup_util_ps1.py'
|
||||
[1.577s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.ps1'
|
||||
[1.579s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.sh'
|
||||
[1.579s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/workspace/install/_local_setup_util_sh.py'
|
||||
[1.580s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.sh'
|
||||
[1.581s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.bash'
|
||||
[1.582s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.bash'
|
||||
[1.583s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.zsh'
|
||||
[1.585s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.zsh'
|
||||
@ -1,2 +0,0 @@
|
||||
Invoking command in '/BA/workspace/build/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /BA/workspace/build/osc_ros2/build --no-deps symlink_data
|
||||
Invoked command in '/BA/workspace/build/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/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 /BA/workspace/build/osc_ros2/build --no-deps symlink_data
|
||||
@ -1,22 +0,0 @@
|
||||
running develop
|
||||
running egg_info
|
||||
creating osc_ros2.egg-info
|
||||
writing osc_ros2.egg-info/PKG-INFO
|
||||
writing dependency_links to osc_ros2.egg-info/dependency_links.txt
|
||||
writing entry points to osc_ros2.egg-info/entry_points.txt
|
||||
writing requirements to osc_ros2.egg-info/requires.txt
|
||||
writing top-level names to osc_ros2.egg-info/top_level.txt
|
||||
writing manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
reading manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
writing manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
running build_ext
|
||||
Creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc-ros2.egg-link (link to .)
|
||||
Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2
|
||||
|
||||
Installed /BA/workspace/build/osc_ros2
|
||||
running symlink_data
|
||||
creating /BA/workspace/install/osc_ros2/share/ament_index
|
||||
creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index
|
||||
creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
|
||||
symbolically linking /BA/workspace/build/osc_ros2/resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
|
||||
symbolically linking /BA/workspace/build/osc_ros2/package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2
|
||||
@ -1,22 +0,0 @@
|
||||
running develop
|
||||
running egg_info
|
||||
creating osc_ros2.egg-info
|
||||
writing osc_ros2.egg-info/PKG-INFO
|
||||
writing dependency_links to osc_ros2.egg-info/dependency_links.txt
|
||||
writing entry points to osc_ros2.egg-info/entry_points.txt
|
||||
writing requirements to osc_ros2.egg-info/requires.txt
|
||||
writing top-level names to osc_ros2.egg-info/top_level.txt
|
||||
writing manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
reading manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
writing manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
running build_ext
|
||||
Creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc-ros2.egg-link (link to .)
|
||||
Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2
|
||||
|
||||
Installed /BA/workspace/build/osc_ros2
|
||||
running symlink_data
|
||||
creating /BA/workspace/install/osc_ros2/share/ament_index
|
||||
creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index
|
||||
creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
|
||||
symbolically linking /BA/workspace/build/osc_ros2/resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
|
||||
symbolically linking /BA/workspace/build/osc_ros2/package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2
|
||||
@ -1,24 +0,0 @@
|
||||
[0.785s] Invoking command in '/BA/workspace/build/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/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 /BA/workspace/build/osc_ros2/build --no-deps symlink_data
|
||||
[1.097s] running develop
|
||||
[1.188s] running egg_info
|
||||
[1.188s] creating osc_ros2.egg-info
|
||||
[1.189s] writing osc_ros2.egg-info/PKG-INFO
|
||||
[1.189s] writing dependency_links to osc_ros2.egg-info/dependency_links.txt
|
||||
[1.190s] writing entry points to osc_ros2.egg-info/entry_points.txt
|
||||
[1.190s] writing requirements to osc_ros2.egg-info/requires.txt
|
||||
[1.191s] writing top-level names to osc_ros2.egg-info/top_level.txt
|
||||
[1.191s] writing manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
[1.194s] reading manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
[1.195s] writing manifest file 'osc_ros2.egg-info/SOURCES.txt'
|
||||
[1.197s] running build_ext
|
||||
[1.197s] Creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc-ros2.egg-link (link to .)
|
||||
[1.198s] Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2
|
||||
[1.199s]
|
||||
[1.200s] Installed /BA/workspace/build/osc_ros2
|
||||
[1.200s] running symlink_data
|
||||
[1.200s] creating /BA/workspace/install/osc_ros2/share/ament_index
|
||||
[1.201s] creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index
|
||||
[1.201s] creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
|
||||
[1.202s] symbolically linking /BA/workspace/build/osc_ros2/resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
|
||||
[1.204s] symbolically linking /BA/workspace/build/osc_ros2/package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2
|
||||
[1.223s] Invoked command in '/BA/workspace/build/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/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 /BA/workspace/build/osc_ros2/build --no-deps symlink_data
|
||||
@ -1 +0,0 @@
|
||||
latest_build
|
||||
@ -1 +0,0 @@
|
||||
build_2025-05-14_17-08-22
|
||||
BIN
workspace/src/.DS_Store
vendored
BIN
workspace/src/.DS_Store
vendored
Binary file not shown.
BIN
workspace/src/osc_ros2/.DS_Store
vendored
Normal file
BIN
workspace/src/osc_ros2/.DS_Store
vendored
Normal file
Binary file not shown.
Binary file not shown.
@ -72,7 +72,7 @@ class OSC_ROS2_interface(Node):
|
||||
if robot:
|
||||
while True:
|
||||
print('+-' * 50)
|
||||
set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower()
|
||||
set_limits = input("Do you want to set limits for x, y and z? (y/n): ").strip().lower()
|
||||
if set_limits == 'y':
|
||||
while True:
|
||||
try:
|
||||
@ -96,7 +96,7 @@ class OSC_ROS2_interface(Node):
|
||||
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()
|
||||
confirm = input("Do you want your TCP to move in this range? (y/n): ").strip().lower()
|
||||
if confirm == 'y':
|
||||
break
|
||||
elif confirm == 'n':
|
||||
@ -114,8 +114,56 @@ class OSC_ROS2_interface(Node):
|
||||
self.z_limits = [None, None]
|
||||
break
|
||||
print("Invalid input. Please enter 'y' or 'n'.")
|
||||
|
||||
while True:
|
||||
print('+-' * 50)
|
||||
set_limits = input("Do you want to set workspace limits in x, y and z direction? (y/n): ").strip().lower()
|
||||
if set_limits == 'y':
|
||||
while True:
|
||||
try:
|
||||
self.x_limits_workspace = [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_workspace = [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_workspace = [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_workspace) != 2 or len(self.y_limits_workspace) != 2 or len(self.z_limits_workspace) != 2:
|
||||
print("Invalid input. Please enter exactly two values (or leave blank) for each limit.")
|
||||
continue
|
||||
|
||||
if (self.x_limits_workspace[0] is not None and self.x_limits_workspace[1] is not None and self.x_limits_workspace[0] >= self.x_limits_workspace[1]) or \
|
||||
(self.y_limits_workspace[0] is not None and self.y_limits_workspace[1] is not None and self.y_limits_workspace[0] >= self.y_limits_workspace[1]) or \
|
||||
(self.z_limits_workspace[0] is not None and self.z_limits_workspace[1] is not None and self.z_limits_workspace[0] >= self.z_limits_workspace[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_workspace}")
|
||||
print(f"y: {self.y_limits_workspace}")
|
||||
print(f"z: {self.z_limits_workspace}")
|
||||
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.")
|
||||
break
|
||||
elif set_limits == 'n':
|
||||
self.x_limits_workspace = [None, None]
|
||||
self.y_limits_workspace = [None, None]
|
||||
self.z_limits_workspace = [None, None]
|
||||
break
|
||||
print("Invalid input. Please enter 'y' or 'n'.")
|
||||
# Ask the user if they want to set new joint limits
|
||||
|
||||
# Ask the user if they want to set new joint limits
|
||||
while True:
|
||||
print('+-'*50)
|
||||
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)):
|
||||
@ -183,8 +231,8 @@ class OSC_ROS2_interface(Node):
|
||||
while True:
|
||||
try:
|
||||
print("-" * 50)
|
||||
lower_limit = input(f"Enter the new lower limit for joint '{joint}' (or press Enter to keep current): ").strip()
|
||||
upper_limit = input(f"Enter the new upper limit for joint '{joint}' (or press Enter to keep current): ").strip()
|
||||
lower_limit = input(f"Enter the new lower limit for joint '{joint}' (or press Enter for None): ").strip()
|
||||
upper_limit = input(f"Enter the new upper limit for joint '{joint}' (or press Enter for None): ").strip()
|
||||
|
||||
if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
|
||||
print('--' * 50)
|
||||
@ -195,12 +243,13 @@ class OSC_ROS2_interface(Node):
|
||||
break
|
||||
except ValueError:
|
||||
print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
|
||||
print(f'New limits for joint:\n lower: {self.joint_lim[0]}\n upper: {self.joint_lim[1]}')
|
||||
break
|
||||
elif update_limits == 'n':
|
||||
self.joint_lim = None
|
||||
break
|
||||
print("Invalid input. Please enter 'y' or 'n'.")
|
||||
|
||||
print(f'New limits for joint:\n lower: {self.joint_lim[0]}\n upper: {self.joint_lim[1]}')
|
||||
|
||||
|
||||
while True:
|
||||
@ -343,7 +392,20 @@ class OSC_ROS2_interface(Node):
|
||||
self.get_logger().fatal(f"speed_scaling_handler: {e}")
|
||||
|
||||
def joint_trajectory_handler(self, *args):
|
||||
pass
|
||||
try:
|
||||
if len(args[0]) == 6:
|
||||
points = [[float(j) for j in i] for i in args]
|
||||
elif len(args[0]) >= 7:
|
||||
points = [[float(j) for j in i[:6]] for i in args]
|
||||
self.get_logger().warn(f"joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.")
|
||||
else:
|
||||
self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.")
|
||||
return
|
||||
|
||||
self.desired = ["joint_trajectory"] + points
|
||||
self.new = True
|
||||
except Exception as e:
|
||||
self.get_logger().fatal(f"joint_trajectory_handler: {e}")
|
||||
|
||||
def joint_position_handler(self, address, *args):
|
||||
"""Handles incoming OSC messages for joint positions."""
|
||||
@ -421,7 +483,20 @@ class OSC_ROS2_interface(Node):
|
||||
def cartesian_trajectory_handler(self, *args):
|
||||
"""Handles incoming OSC messages for cartesian trajectory."""
|
||||
if self.robot:
|
||||
pass
|
||||
try:
|
||||
if len(args[0]) == 6:
|
||||
points = [[float(j) for j in i] for i in args]
|
||||
elif len(args[0]) >= 7:
|
||||
points = [[float(j) for j in i[:6]] for i in args]
|
||||
self.get_logger().warn(f"cartesian_trajectory_handler: Duration is not supported for cartesian trajectory yet. Ignoring duration.")
|
||||
else:
|
||||
self.get_logger().warn(f"cartesian_trajectory_handler: Invalid number of arguments for cartesian trajectory. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args[0])}.")
|
||||
return
|
||||
|
||||
self.desired = ["cartesian_trajectory"] + points
|
||||
self.new = True
|
||||
except Exception as e:
|
||||
self.get_logger().fatal(f"cartesian_trajectory_handler: {e}")
|
||||
else:
|
||||
self.get_logger().warn("cartesian_trajectory_handler: No robot model provided. Cannot handle cartesian trajectory.")
|
||||
return
|
||||
@ -451,17 +526,20 @@ class OSC_ROS2_interface(Node):
|
||||
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[1][i]}."
|
||||
)
|
||||
else:
|
||||
for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):
|
||||
if self.joint_lim[0][i] is not None and position < self.joint_lim[0][i]:
|
||||
desired_joint_positions[i] = self.joint_lim[0][i]
|
||||
self.get_logger().warn(
|
||||
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}."
|
||||
)
|
||||
elif self.joint_lim[1][i] is not None and position > self.joint_lim[1][i]:
|
||||
desired_joint_positions[i] = self.joint_lim[1][i]
|
||||
self.get_logger().warn(
|
||||
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}."
|
||||
)
|
||||
if self.joint_lim:
|
||||
for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):
|
||||
if self.joint_lim[0][i] is not None:
|
||||
if position < self.joint_lim[0][i]:
|
||||
desired_joint_positions[i] = self.joint_lim[0][i]
|
||||
self.get_logger().warn(
|
||||
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}."
|
||||
)
|
||||
elif self.joint_lim[1][i] is not None:
|
||||
if position > self.joint_lim[1][i]:
|
||||
desired_joint_positions[i] = self.joint_lim[1][i]
|
||||
self.get_logger().warn(
|
||||
f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}."
|
||||
)
|
||||
|
||||
self.desired = ["joint_positions"] + desired_joint_positions
|
||||
self.new = True
|
||||
@ -677,7 +755,7 @@ class OSC_ROS2_interface(Node):
|
||||
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)
|
||||
out_of_bounds = (fowards.t[1:,0] > self.x_limits_workspace[1] if self.x_limits_workspace[1] != None else False) | (fowards.t[1:,0] < self.x_limits_workspace[0] if self.x_limits_workspace[0] != None else False) | (fowards.t[1:,1] > self.y_limits_workspace[1] if self.y_limits_workspace[1] != None else False) | (fowards.t[1:,1] < self.y_limits_workspace[0] if self.y_limits_workspace[0] != None else False) | (fowards.t[1:,2] > self.z_limits_workspace[1] if self.z_limits_workspace[1] != None else False) | (fowards.t[1:,2] < self.z_limits_workspace[0] if self.z_limits_workspace[0] != None else False)
|
||||
if np.any(out_of_bounds):
|
||||
#print(fowards.t)
|
||||
#indices = np.where(out_of_bounds)[0]
|
||||
@ -729,7 +807,7 @@ class OSC_ROS2_interface(Node):
|
||||
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)
|
||||
out_of_bounds = (fowards.t[1:,0] > self.x_limits_workspace[1] if self.x_limits_workspace[1] != None else False) | (fowards.t[1:,0] < self.x_limits_workspace[0] if self.x_limits_workspace[0] != None else False) | (fowards.t[1:,1] > self.y_limits_workspace[1] if self.y_limits_workspace[1] != None else False) | (fowards.t[1:,1] < self.y_limits_workspace[0] if self.y_limits_workspace[0] != None else False) | (fowards.t[1:,2] > self.z_limits_workspace[1] if self.z_limits_workspace[1] != None else False) | (fowards.t[1:,2] < self.z_limits_workspace[0] if self.z_limits_workspace[0] != None else False)
|
||||
if np.any(out_of_bounds):
|
||||
#print(fowards.t)
|
||||
#indices = np.where(out_of_bounds)[0]
|
||||
@ -774,11 +852,60 @@ class OSC_ROS2_interface(Node):
|
||||
self.get_logger().fatal(f"send_tcp_coordinates: {e}")
|
||||
|
||||
def send_joint_trajectory(self):
|
||||
pass
|
||||
self.previous_desired = None
|
||||
|
||||
try:
|
||||
self.new = False
|
||||
viapoints = np.array([i for i in self.desired[1:]])
|
||||
msg = JointTrajectory()
|
||||
msg.joint_names = self.joint_names
|
||||
traj = rtb.mstraj(viapoints, q0 = self.current_joint_positions ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=[self.speed_scaling*i for i in self.joint_velocity_limits.values()])
|
||||
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)
|
||||
msg.points.append(point)
|
||||
msg.header.stamp = self.get_clock().now().to_msg()
|
||||
self.publisher.publish(msg)
|
||||
self.previous_desired = None
|
||||
except Exception as e:
|
||||
print(f'Error in joint_angles_handler: {e}')
|
||||
|
||||
def send_cartesian_trajectory(self):
|
||||
pass
|
||||
|
||||
try:
|
||||
self.new = False
|
||||
viapoints = np.array([i[:6] for i in self.desired[1:]])
|
||||
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=1.5/self.speed_scaling, qdmax=2*self.speed_scaling)
|
||||
msg.points = []
|
||||
prev_sol = self.current_joint_positions
|
||||
n = max(int(len(traj.q)/200), 1)
|
||||
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])
|
||||
if traj.t[i] == 0:
|
||||
continue
|
||||
point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9)
|
||||
msg.points.append(point)
|
||||
prev_sol = list(sol[0])
|
||||
else: self.get_logger().warn(f"send_cartesian_trajectory: IK could not find a solution for (x,y,z) = {traj.q[i][:3]} and (r,p,y) = {traj.q[i][3:]}!")
|
||||
msg.header.stamp = self.get_clock().now().to_msg()
|
||||
msg.points = msg.points[::n]
|
||||
self.publisher.publish(msg)
|
||||
self.previous_desired = None
|
||||
except Exception as e:
|
||||
print(f'Error in joint_angles_handler: {e}')
|
||||
|
||||
self.previous_desired = None
|
||||
|
||||
def update_position(self):
|
||||
@ -847,7 +974,7 @@ def main():
|
||||
use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower()
|
||||
if use_urdf == 'y':
|
||||
while True:
|
||||
robot_urdf = input("Enter the path to the URDF file: ")
|
||||
robot_urdf = input("Enter the absolute path to the URDF file: ")
|
||||
if os.path.isfile(robot_urdf):
|
||||
if not robot_urdf.endswith('.urdf'):
|
||||
print("The file is not a URDF file. Please enter a valid URDF file.")
|
||||
@ -880,7 +1007,7 @@ def main():
|
||||
try:
|
||||
print('-+'*50)
|
||||
print("The cost mask determines which coordinates are used for the IK.\nEach 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 rotaion.")
|
||||
print("The cost mask 111000 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
|
||||
@ -966,7 +1093,6 @@ def main():
|
||||
print("")
|
||||
finally:
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
osc_terminate()
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
@ -2,8 +2,8 @@
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>osc_ros2</name>
|
||||
<version>0.0.0</version>
|
||||
<description>Creates an interface for communication between OSC and Ros2</description>
|
||||
<version>1.0.0</version>
|
||||
<description>Creates an interface for communication between OSC and ROS2</description>
|
||||
<maintainer email="a.schaefer@tuhh.de">Alexander Schaefer</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
|
||||
|
||||
@ -4,7 +4,7 @@ package_name = 'osc_ros2'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.0.0',
|
||||
version='1.0.0',
|
||||
packages=find_packages(exclude=['test']),
|
||||
data_files=[
|
||||
('share/ament_index/resource_index/packages',
|
||||
@ -17,8 +17,7 @@ setup(
|
||||
'roboticstoolbox-python==1.1.1',
|
||||
'numpy==1.22.4',
|
||||
'scipy==1.7.3',
|
||||
'spatialmath-python==1.1.14',
|
||||
'matplotlib==3.4.3',],
|
||||
'spatialmath-python==1.1.14'],
|
||||
zip_safe=True,
|
||||
maintainer='Alexander Schaefer',
|
||||
maintainer_email='a.schaefer@tuhh.de',
|
||||
|
||||
Loading…
Reference in New Issue
Block a user