Update README.md

With config

See merge request m-4/ligeti/ros2osc/ba-alexanderschaefer!1

.gitlab-ci.yml

@@ -0,0 +1,28 @@
+# This file is a template, and might need editing before it works on your project.
+# This is a sample GitLab CI/CD configuration file that should run without any modifications.
+# It demonstrates a basic 3 stage CI/CD pipeline. Instead of real tests or scripts,
+# it uses echo commands to simulate the pipeline execution.
+#
+# A pipeline is composed of independent jobs that run scripts, grouped into stages.
+# Stages run in sequential order, but jobs within stages run in parallel.
+#
+# For more information, see: https://docs.gitlab.com/ee/ci/yaml/#stages
+#
+# You can copy and paste this template into a new `.gitlab-ci.yml` file.
+# You should not add this template to an existing `.gitlab-ci.yml` file by using the `include:` keyword.
+#
+# To contribute improvements to CI/CD templates, please follow the Development guide at:
+# https://docs.gitlab.com/development/cicd/templates/
+# This specific template is located at:
+# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/Getting-Started.gitlab-ci.yml
+
+stages:          # List of stages for jobs, and their order of execution
+  - sync
+
+image: python:3.10
+
+sync-docs-job:       # This job runs in the build stage, which runs first.
+  stage: sync
+  script:
+    - pip install confluence.md
+    - confluence.md --user $CU_USER --token $CU_SECRET --url https://imek.atlassian.net update --file README.md --page_id 1134493746 --title "$(head -n1 README.md | cut -d' ' -f2-)"

README.md

@@ -1,4 +1,3 @@
-
 # OSC–ROS 2 Interface
 
 ## Description
@@ -53,13 +52,13 @@ This command builds the container defined in [`URSim/Dockerfile`](./URSim/Docker
 The same can be done for the ROS 2_Humble container
 
 ```bash
-docker build -t ros2_humble:latest ROS 2_Humble
+docker build -t ros2_humble:latest ROS2_humble
 ```
 
 After all the containers are successfully built and the bridge network is established we can now start both containers. On one terminal run the following command to start the URSim container
 
 ```bash
-docker run -it --rm -p 6080:6080 --network ros_ursim ursim:latest
+docker run --name URSIM -it -p 6080:6080 --network ros_ursim ursim:latest
 ```
 
 When successfully started this container will print its IP address in the terminal.  Note this down:
@@ -73,12 +72,12 @@ IP address of the simulator
 On another terminal run
 
 ```
-docker run -it --rm --network ros_ursim ros2_humble:latest
+docker run -it --name ROS --network ros_ursim -p50002-50100:50002-50100 -p5005-8000:5005-8000 -v ./workspace:/workspace ros2_humble:latest
 ```
 Also note the IP address, using `hostname`
 
 ```
-hostname -i
+hostname -I
 ```
 
 With both containers running we can now open the URSim interface on any browser by going to this address:
@@ -98,7 +97,7 @@ source /opt/ros/humble/setup.bash
 
 Next, launch the driver for communication with the UR simulation, with the IP address of the UR container
 ```
-ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=<ur.controller.ip.address>
+ros2 launch ur_robot_driver ur10e.launch.py robot_ip:=<ur.controller.ip.address>
 ```
 
 Now, from the VNC interface, we can start the external control program by clicking on the play button in the bottom right of the screen.
@@ -112,7 +111,7 @@ docker ps
 Use the appropriate container ID to launch bash within that container. We need the container ID of the ros2_humble container.
 
 ```
-docker exec -it <container_id> /bin/bash
+docker exec -it ROS /bin/bash
 ```
 
 Once inside, we again must source the ROS 2 environment
@@ -135,26 +134,8 @@ If everything worked, this should either move the robot or complain about it bei
    source /opt/ros/humble/setup.bash
    ```
 
-2. **Install Required Python Libraries**
+2. **Build the Workspace**
    ```bash
-   pip install numpy==1.22.4 scipy==1.7.3 spatialmath-python==1.1.14 roboticstoolbox-python==1.1.1 osc4py3
-   ```
-   if an error occurs during installation run:
-   ```bash
-   python3 -m pip install --upgrade pip setuptools wheel
-   ```
-   and try again.
-
-   If you don't have pip installed run
-
-   ```bash
-   sudo apt update
-   sudo apt install python3-pip
-   ```
-
-3. **Clone and Build the Workspace**
-   ```bash
-   git clone <this_repo>
    cd workspace
    colcon build
    source install/setup.bash
@@ -163,7 +144,7 @@ If everything worked, this should either move the robot or complain about it bei
 Now you should find three new folders in your directory: log, build and install. You can check with `ls`
 ```bash
 workspace/
-├── src
+├── srcdocker run --name URSIM
 ├── build
 ├── install
 └── log
@@ -171,9 +152,9 @@ workspace/
 
 
 4. **Run the Interface**
-   ```bash
+```bash
    ros2 run osc_ros2 interface
-   ```
+```
 
 ---
 
@@ -250,4 +231,4 @@ An example patch in PureData is provided (`/workspace/src/6_DOF_example.pd`) tha
 
 [^1]: [What is Docker?](https://docs.docker.com/get-started/)
 [^2]: [WSL2 & Docker Networking](https://stackoverflow.com/questions/65426891)
-[^3]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277)
+[^3]: [Cisco VPN and WSL2](https://github.com/Microsoft/WSL/issues/4277)

ROS2_humble/Dockerfile

@@ -2,4 +2,5 @@ FROM osrf/ros:humble-desktop-full
 
 RUN apt-get -y update
 RUN apt-get -y upgrade
-RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping
+RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping python3-pip
+RUN pip install numpy==1.22.4 scipy==1.7.3 spatialmath-python roboticstoolbox-python osc4py3

examples/log.py

@@ -0,0 +1,19 @@
+import socket
+from ssl import SOCK_STREAM
+from oscpy import *
+
+UDP_IP = "172.18.0.1"
+UDP_PORT = 5005
+
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sock.bind((UDP_IP, UDP_PORT))
+
+while True:
+    data, addr = sock.recvfrom(10*1024)
+    if "#bundle" in data[:8].decode():
+        b = Bundle(data)
+        print(b)
+    else:
+        m = Message(data)
+        print(m)
+

examples/move.py

@@ -0,0 +1,45 @@
+import socket
+import time
+from oscpy import *
+
+
+SEND_IP = "172.18.0.2"
+SEND_PORT = 8000
+RECV_IP = "172.18.0.1"
+RECV_PORT = 7000
+
+pub = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sub = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+msg = Message("/joint_positions", [-1]*6).encode()
+n = pub.sendto(msg, (SEND_IP, SEND_PORT))
+if n > 0:
+    print(f"INFO: Sent {n} bytes")
+
+time.sleep(10)
+
+msg = Message("/tcp_coordinates", [-1]*6).encode()
+n = pub.sendto(msg, (SEND_IP, SEND_PORT))
+if n > 0:
+    print(f"INFO: Sent {n} bytes")
+
+time.sleep(10)
+
+sub.bind((RECV_IP, RECV_PORT))
+joint_names = []
+found = False
+while not found:
+    data, addr = sub.recvfrom(5*1024)
+    if "#bundle" in data[:8].decode():
+        b = Bundle().decode(data)
+        for msg in b.msgs:
+            if "/joint_state/name" in msg.address:
+                joint_names = msg.args
+                found = True
+
+if joint_names:
+    msg = Message(f"/joint_position/{joint_names[2]}", [ 0 ])
+    n = pub.sendto(msg.encode(), (SEND_IP, SEND_PORT))
+    if n > 0:
+        print(f"INFO: Sent {n} bytes")
+

examples/oscpy/__init__.py

@@ -0,0 +1,138 @@
+import struct
+from typing import final, override
+
+OSC_TYPES = str | int | float | bool | bytes
+
+def get_string_size(data: bytes) -> int:
+    n = data.find(b'\x00')
+    n = n + 4 - n%4
+    return n
+
+def to_osc_string(s: str) -> bytes:
+    n = len(s)
+    b = struct.pack(f'{n}s{4 - n%4}x', s.encode())
+    return b
+
+def to_osc_blob(b: bytes) -> bytes:
+    n = len(b)
+    b = struct.pack(f'i{4 - n%4}p', n, b)
+    return b
+
+def parse_string(data: bytes) -> tuple[bytes, str]:
+    n = get_string_size(data)
+    values: tuple[bytes] = struct.unpack(f'>{n}s', data[:n])
+    value = values[0].split(b"\x00", 1)
+    return data[n:], value[0].decode()
+
+def parse_float(data: bytes) -> tuple[bytes, float]:
+    values: tuple[float] = struct.unpack('>f', data[:4])
+    return data[4:], values[0]
+
+def parse_int(data: bytes) -> tuple[bytes, int]:
+    values: tuple[int] = struct.unpack('>i', data[:4])
+    return data[4:], values[0]
+
+def parse_blob(data: bytes) -> tuple[bytes, bytes]:
+    n_values: tuple[int] = struct.unpack('>i', data[:4])
+    n: int = n_values[0]
+    values: tuple[bytes] = struct.unpack(f'>{n}p', data[4:4+n])
+    return data[4+n:], values[0]
+
+def parse_args(tt: str, data: bytes) -> list[OSC_TYPES]:
+    tt = tt[1:]
+    args: list[OSC_TYPES] = []
+    for c in tt:
+        match c:
+            case 's':
+                data, val = parse_string(data)
+                args.append(val)
+            case 'b':
+                data, val = parse_blob(data)
+                args.append(val)
+            case 'f':
+                data, val = parse_float(data)
+                args.append(val)
+            case 'i':
+                data, val = parse_int(data)
+                args.append(val)
+            case _:
+                print(f"[ERROR]: Got {c}")
+    return args
+
+def encode_args(args: list[OSC_TYPES]) -> bytes:
+    encoded = b''
+    for arg in args:
+        match arg:
+            case str(): encoded += to_osc_string(arg)
+            case float(): encoded += struct.pack('>f', arg)
+            case int(): encoded += struct.pack('>i', arg)
+            case bytes(): encoded += to_osc_blob(arg)
+    return encoded
+
+def parse_type(arg: OSC_TYPES) -> str:
+    match arg:
+        case str(): return "s"
+        case float(): return "f"
+        case int(): return "i"
+        case bytes(): return "b"
+
+@final
+class Message:
+    def __init__(self, address: str = "/", args: list[OSC_TYPES] = []):
+        self.address: str = address
+        self.type_tags = ","
+        for arg in args:
+            self.type_tags = self.type_tags + parse_type(arg)
+        self.args: list[OSC_TYPES] = args
+    
+    def decode(self, data: bytes):
+        data, self.address = parse_string(data)
+        data, self.type_tags = parse_string(data)
+        self.args = parse_args(self.type_tags, data)
+        return self
+
+    def encode(self) -> bytes:
+        msg  = to_osc_string(self.address)
+        msg += to_osc_string(self.type_tags)
+        msg += encode_args(self.args)
+        return msg
+
+    @override
+    def __str__(self) -> str:
+        return f"{self.address} [{self.type_tags}]: {self.args}"
+
+@final
+class Bundle:
+    def __init__(self, time_tag: float = 0.0, msgs: list[Message] = []):
+        self.header = "#bundle"
+        self.ttag = time_tag
+        self.msgs = msgs
+    
+    def decode(self, data: bytes):
+        data, self.header = parse_string(data)
+        data[4:]
+        data, self.ttag = parse_float(data)
+        data = data[4:]
+        self.msgs: list[Message] = []
+        while len(data) > 0:
+            data, n = parse_int(data)
+            msg_data = data[:n]
+            data = data[n:]
+            self.msgs.append(Message().decode(msg_data))
+        return self
+
+    def encode(self) -> bytes:
+        bundle  = to_osc_string("#bundle")
+        bundle += struct.pack('4xf4x', self.ttag)
+        for msg in self.msgs:
+            msg_data = msg.encode()
+            bundle += struct.pack('i', len(msg_data))
+            bundle += msg_data
+        return bundle
+
+    @override
+    def __str__(self) -> str:
+        out = f"{self.header} ({self.ttag}):\n"
+        for msg in self.msgs:
+            out += f"  - {msg}\n"
+        return out

examples/state.py

@@ -0,0 +1,27 @@
+import socket
+import struct
+from oscpy import *
+
+UDP_IP = "172.18.0.1"
+UDP_PORT = 7000
+
+sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+sock.bind((UDP_IP, UDP_PORT))
+
+
+while True:
+    data, addr = sock.recvfrom(10*1024)
+    n = get_string_size(data)
+    [tag] = struct.unpack(f'{n}s', data[:n])
+    if "#bundle" in tag.decode():
+        b = Bundle(data)
+        print("Bundle:")
+        for msg in b.msgs:
+            print("  -", msg)
+    else:
+        msg = Message(data)
+        if msg.address == "/time":
+            msg.args[0] = float(msg.args[0])
+        print(msg)
+
+

examples/test.py

@@ -0,0 +1,7 @@
+from oscpy import *
+
+
+encoded = Message("/", ["test", 0.1, 9]).encode()
+new_msg = Message().decode(encoded).encode()
+assert(encoded == new_msg)
+

painting_robot/com_node.py

@@ -0,0 +1,100 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int32
+from math import sin, cos, pi
+from trajectory_msgs.msg import JointTrajectory
+from sensor_msgs.msg import JointState
+import time
+
+# Adjusted joint limits based on nearest multiple of step angle
+
+
+
+class ArmControllerNode(Node):
+    
+    def __init__(self):
+        super().__init__('arm_controller_node')
+        self.subscription = self.create_subscription(
+            JointTrajectory,
+            '/scaled_joint_trajectory_controller/joint_trajectory',
+            self.joint_trajectory_callback,
+            100
+        )
+        self.dq1_publisher = self.create_publisher(Int32, 'dq1_steps', 10)
+        self.dq2_publisher = self.create_publisher(Int32, 'dq2_steps', 10)
+        self.joint_state_publisher = self.create_publisher(JointState, 'joint_states', 10)
+        
+        self.q1_min = -1.57
+        self.q1_max = 1
+        self.q2_min = 0.02
+        self.q2_max = 2.8
+
+        self.current_q1 = 0.00
+        self.current_q2 = 1.57  # Initial joint angles
+        steps_per_revolution = 200
+        gear_ratio = 19.2
+        self.steps_per_radian = (steps_per_revolution * gear_ratio) / (2 * pi)
+    
+
+    def publish_joint_state(self):
+        joint_state_msg = JointState()
+        joint_state_msg.header.stamp = self.get_clock().now().to_msg()
+        joint_state_msg.name = ['joint_1', 'joint_2']
+        joint_state_msg.position = [self.current_q1, self.current_q2]
+        joint_state_msg.velocity = [0.0, 0.0]
+        joint_state_msg.effort = [0.0, 0.0]
+        self.joint_state_publisher.publish(joint_state_msg)
+
+        self.ceate_timer(0.2, self.publish_joint_state)
+        
+    def joint_trajectory_callback(self, msg):
+        prev_timetag = 0
+        for point in msg.points:
+            timetag = point.time_from_start.sec + point.time_from_start.nanosec / 1e9 - prev_timetag
+            prev_timetag = point.time_from_start.sec + point.time_from_start.nanosec / 1e9
+
+            new_q1=max(min(point.positions[0],self.q1_max),self.q1_min)
+            new_q2=max(min(point.positions[1],self.q2_max),self.q2_min)
+            dq1 = new_q1 - self.current_q1
+            dq2 = new_q2 - self.current_q2
+            dq1_steps = int(round(dq1 * self.steps_per_radian))
+            dq2_steps = int(round(dq2 * self.steps_per_radian))
+            
+            self.current_q1 += dq1_steps/self.steps_per_radian
+            self.current_q2 += dq2_steps/self.steps_per_radian
+
+            dq1_steps_msg = Int32()
+            dq1_steps_msg.data = dq1_steps
+            self.dq1_publisher.publish(dq1_steps_msg)
+
+            dq2_steps_msg = Int32()
+            dq2_steps_msg.data = dq2_steps
+            self.dq2_publisher.publish(dq2_steps_msg)
+            x= 0.4 * cos(self.current_q1) + 0.25025 * cos(self.current_q1+self.current_q2)
+            y= 0.4 * sin(self.current_q1) + 0.25025 * sin(self.current_q1+self.current_q2)
+
+            self.get_logger().info(f"Steps taken: steps_q1 = {dq1_steps}, steps_q2 = {dq2_steps}")
+            self.get_logger().info(f"New joint positions (in radians): q1 = {self.current_q1}, q2 = {self.current_q2}")
+            self.get_logger().info(f"New x_y positions (in meters): x = {x}, y = {y}")
+            self.get_logger().info(f"Duration: {timetag}")
+            time.sleep(timetag)
+
+
+                
+        
+def main(args=None):
+    try:
+        rclpy.init(args=args)
+        node = ArmControllerNode()
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print('Communication to painting robot closed')
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+
+
+

painting_robot/painting_robot.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="painting_robot">
+
+  <!-- Base Link -->
+  <link name="base_link"/>
+
+  <!-- Link 1 -->
+  <link name="link1"/>
+
+  <joint name="joint1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" velocity="0.5" lower="-1.57" upper="1"/>
+  </joint>
+
+  <!-- Link 2 -->
+  <link name="link2"/>
+
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz="0.4 0 0" rpy="0 0 0"/> <!-- 400.00mm from base -->
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" velocity="0.5" lower="0.02" upper="2.8"/>
+  </joint>
+
+  <!-- Tool endpoint -->
+  <link name="tool0"/>
+
+  <joint name="tool0_fixed_joint" type="fixed">
+    <parent link="link2"/>
+    <child link="tool0"/>
+    <origin xyz="0.25025 0 0" rpy="0 0 0"/> <!-- TCP 250.25mm from joint2 -->
+  </joint>
+
+</robot>

workspace/.gitignore

@@ -0,0 +1,6 @@
+build/*
+build/**
+install/*
+install/**
+log/*
+log/**

workspace/build/.built_by

@@ -1 +0,0 @@
-colcon

workspace/build/osc_ros2/colcon_build.rc

@@ -1 +0,0 @@
-0

workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh

@@ -1 +0,0 @@
-# generated from colcon_core/shell/template/command_prefix.sh.em

workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env

@@ -1,20 +0,0 @@
-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
-COLCON=1
-COLCON_PREFIX_PATH=/BA/workspace/install
-HOME=/root
-HOSTNAME=0e38e264ac6b
-LANG=C.UTF-8
-LC_ALL=C.UTF-8
-LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
-LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-OLDPWD=/BA/workspace/src
-PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
-PWD=/BA/workspace/build/osc_ros2
-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
-ROS_LOCALHOST_ONLY=0
-ROS_PYTHON_VERSION=3
-ROS_VERSION=2
-SHLVL=1
-TERM=xterm
-_=/usr/bin/colcon

workspace/build/osc_ros2/osc_ros2

@@ -1 +0,0 @@
-/BA/workspace/src/osc_ros2/osc_ros2

workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO

@@ -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
-

workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt

@@ -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

workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt

@@ -1 +0,0 @@
-

workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt

@@ -1,3 +0,0 @@
-[console_scripts]
-interface = osc_ros2.osc_ros2:main
-

workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt

@@ -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

workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt

@@ -1 +0,0 @@
-osc_ros2

workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe

@@ -1 +0,0 @@
-

workspace/build/osc_ros2/package.xml

@@ -1 +0,0 @@
-/BA/workspace/src/osc_ros2/package.xml

workspace/build/osc_ros2/prefix_override/sitecustomize.py

@@ -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'

workspace/build/osc_ros2/resource/osc_ros2

@@ -1 +0,0 @@
-/BA/workspace/src/osc_ros2/resource/osc_ros2

workspace/build/osc_ros2/setup.cfg

@@ -1 +0,0 @@
-/BA/workspace/src/osc_ros2/setup.cfg

workspace/build/osc_ros2/setup.py

@@ -1 +0,0 @@
-/BA/workspace/src/osc_ros2/setup.py

workspace/build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.dsv

@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;/BA/workspace/build/osc_ros2

workspace/build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.ps1

@@ -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"

workspace/build/osc_ros2/share/osc_ros2/hook/pythonpath_develop.sh

@@ -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"

workspace/install/.colcon_install_layout

@@ -1 +0,0 @@
-isolated

workspace/install/_local_setup_util_ps1.py

@@ -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)

workspace/install/_local_setup_util_sh.py

@@ -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)

workspace/install/local_setup.bash

@@ -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

workspace/install/local_setup.ps1

@@ -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
-}

workspace/install/local_setup.sh

@@ -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

workspace/install/local_setup.zsh

@@ -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

workspace/install/osc_ros2/lib/osc_ros2/interface

@@ -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')())

workspace/install/osc_ros2/lib/python3.10/site-packages/osc-ros2.egg-link

@@ -1,2 +0,0 @@
-/BA/workspace/build/osc_ros2
-.

workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2

@@ -1 +0,0 @@
-/BA/workspace/build/osc_ros2/resource/osc_ros2

workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2

@@ -1 +0,0 @@
-rclpy

workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv

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

workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1

@@ -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"

workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh

@@ -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"

workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv

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

workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1

@@ -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"

workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh

@@ -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"

workspace/install/osc_ros2/share/osc_ros2/package.bash

@@ -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

workspace/install/osc_ros2/share/osc_ros2/package.dsv

@@ -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

workspace/install/osc_ros2/share/osc_ros2/package.ps1

@@ -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

workspace/install/osc_ros2/share/osc_ros2/package.sh

@@ -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

workspace/install/osc_ros2/share/osc_ros2/package.xml

@@ -1 +0,0 @@
-/BA/workspace/build/osc_ros2/package.xml

workspace/install/osc_ros2/share/osc_ros2/package.zsh

@@ -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

workspace/install/setup.bash

@@ -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

workspace/install/setup.ps1

@@ -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"

workspace/install/setup.sh

@@ -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

workspace/install/setup.zsh

@@ -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

workspace/log/build_2025-05-14_17-08-22/events.log

@@ -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: {}

workspace/log/build_2025-05-14_17-08-22/logger_all.log

@@ -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'

workspace/log/build_2025-05-14_17-08-22/osc_ros2/command.log

@@ -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

workspace/log/build_2025-05-14_17-08-22/osc_ros2/stdout.log

@@ -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

workspace/log/build_2025-05-14_17-08-22/osc_ros2/stdout_stderr.log

@@ -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

workspace/log/build_2025-05-14_17-08-22/osc_ros2/streams.log

@@ -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

workspace/log/latest

@@ -1 +0,0 @@
-latest_build

workspace/log/latest_build

@@ -1 +0,0 @@
-build_2025-05-14_17-08-22

workspace/src/osc_ros2/osc_ros2/interactive_input.py

@@ -0,0 +1,429 @@
+import os
+import time
+import toml
+import socket
+import xml.etree.ElementTree as ET
+from typing import Any
+
+import rclpy
+import roboticstoolbox as rtb
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+
+
+class JointNameListener(Node):
+    joint_names: list[str]|None
+    def __init__(self):
+        super().__init__('joint_name_listener')
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_state_callback,
+            1
+        )
+        self.joint_names = None
+
+    def joint_state_callback(self, msg: JointState):
+        self.joint_names = list(msg.name)
+
+def interactive_input() -> tuple[dict[str, Any], rtb.robot]:
+    config = {}
+    rconf = {}
+    nconf = {}
+    robot = None
+    while True:
+        use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower()
+        if use_urdf == 'y':
+            while True:
+                rconf["urdf"] = input("Enter the absolute path to the URDF file: ")
+                if os.path.isfile(rconf["urdf"]):
+                    if not rconf["urdf"].endswith('.urdf'):
+                        print("The file is not a URDF file. Please enter a valid URDF file.")
+                        continue
+                    break
+                else:
+                    print("Invalid path. Please enter a valid path to the URDF file.")
+            tree = ET.parse(rconf["urdf"])
+            root = tree.getroot()
+            robot = rtb.ERobot.URDF(rconf["urdf"])
+            rconf["joint_names"] = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
+            print(robot)
+            rconf["joint_velocity_limits"] = {}
+            # Iterate over all joints in the URDF
+            for joint in root.findall('.//joint'):
+                joint_name = joint.get('name')  # Get the name of the joint
+                
+                # Look for the <limit> tag under each joint
+                limit = joint.find('limit')
+                
+                if limit is not None:
+                    # Extract the velocity limit (if it exists)
+                    velocity_limit = limit.get('velocity')
+                    
+                    if velocity_limit is not None:
+                        rconf["joint_velocity_limits"][joint_name] = float(velocity_limit)
+            
+            while True:
+                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 111000 means that the IK will only consider translation and no rotaion.")
+                    cost_mask_string = input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")
+                    rconf["cost_mask"] = [int(i) for i in cost_mask_string]
+                    if sum(rconf["cost_mask"]) <= robot.n and len(rconf["cost_mask"]) == 6:
+                        break
+                    else:
+                        print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
+                except ValueError:
+                    print("Invalid input. Please enter integers only.")
+            print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if rconf['cost_mask'][i]==1]}")
+            break
+        elif use_urdf == 'n':
+            node = JointNameListener()
+            print("Wainting 10 sec for JointState messages to extract joint names...")
+            rclpy.spin_once(node)
+            counter = 0
+            while not(node.joint_names):
+                if counter > 100:
+                    rconf["joint_names"] = None
+                    break
+                counter+=1
+                time.sleep(0.1)
+                rclpy.spin_once(node)
+            rconf["joint_names"] = node.joint_names
+            node.destroy_node()
+            if rconf["joint_names"]:
+                correct_names = input("The following joint names were found:\n" + "\n".join(rconf["joint_names"]) + "\nAre these correct? (y/n): ").strip().lower()
+                while True:
+                    if correct_names == 'y':
+                        break
+                    elif correct_names == 'n':
+                        rconf["joint_names"] = None
+                        break
+                    correct_names = input("Invalid input. Please enter 'y' or 'n'.")
+            if not(rconf["joint_names"]):
+                print("Please enter the joint names manually.")
+                while True:
+                        rconf["joint_names"] = []
+                        print('-+'*50)
+                        print("Enter the joint names manually one by one. Type 'done' when you are finished:")
+                        print("Attention: The order of the joints is important. It should be the same in which you want to send the joint positions.")
+                        while True:
+                            print('-'*50)
+                            joint_name = input("Enter joint name (or 'done' to finish): ").strip()
+                            if joint_name.lower() == 'done':
+                                break
+                            if joint_name:
+                                rconf["joint_names"].append(joint_name)
+                        print('-+'*50)
+                        correct_names = input(f"Are those the joint names as defined in your JointTrajectroy recieving Node?: {rconf['joint_names']}. (y/n)?: ").strip()
+                        if correct_names.lower() == 'y':
+                            break
+                        else:
+                            print("Please re-enter the joint names.")
+            while True:
+                try:
+                    rconf["joint_velocity_limits"] = {}
+                    for name in rconf["joint_names"]:
+                        while True:
+                            try:
+                                print('--'*50)
+                                limit = input(f"Enter the velocity limit for joint '{name}': ").strip()
+                                if limit == "":
+                                    continue
+                                else:
+                                    rconf["joint_velocity_limits"][name] = float(limit)
+                                    break
+                            except ValueError:
+                                print("Invalid input. Please enter a numeric value or press Enter to skip.")
+                    break
+                except ValueError:
+                    print("Invalid input. Please enter numeric values or leave blank to skip.")
+            robot = None
+            rconf["cost_mask"] = None
+            break
+        print("Invalid input. Please enter 'y' or 'n'.")
+    if robot:
+        while True:
+            print('+-' * 50)
+            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:
+                        rconf["x_limits"] = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()]
+                        rconf["y_limits"] = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()]
+                        rconf["z_limits"] = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()]
+                    
+                        if len(rconf["x_limits"]) != 2 or len(rconf["y_limits"]) != 2 or len(rconf["z_limits"]) != 2:
+                            print("Invalid input. Please enter exactly two values (or leave blank) for each limit.")
+                            continue
+                    
+                        if (rconf["x_limits"][0] is not None and rconf["x_limits"][1] is not None and rconf["x_limits"][0] >= rconf["x_limits"][1]) or \
+                        (rconf["y_limits"][0] is not None and rconf["y_limits"][1] is not None and rconf["y_limits"][0] >= rconf["y_limits"][1]) or \
+                        (rconf["z_limits"][0] is not None and rconf["z_limits"][1] is not None and rconf["z_limits"][0] >= rconf["z_limits"][1]):
+                            print("Invalid input. Lower limit must be less than upper limit for each axis.")
+                            continue
+                    
+                        print("Current limits:")
+                        print(f"x: {rconf['x_limits']}")
+                        print(f"y: {rconf['y_limits']}")
+                        print(f"z: {rconf['z_limits']}")
+                        con = True
+                        while con:
+                            confirm = input("Do you want your TCP 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': 
+                rconf["x_limits"] = [None, None]
+                rconf["y_limits"] = [None, None]
+                rconf["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:
+                        rconf["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()]
+                        rconf["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()]
+                        rconf["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(rconf["x_limits_workspace"]) != 2 or len(rconf["y_limits_workspace"]) != 2 or len(rconf["z_limits_workspace"]) != 2:
+                            print("Invalid input. Please enter exactly two values (or leave blank) for each limit.")
+                            continue
+                    
+                        if (rconf["x_limits_workspace"][0] is not None and rconf["x_limits_workspace"][1] is not None and rconf["x_limits_workspace"][0] >= rconf["x_limits_workspace"][1]) or \
+                        (rconf["y_limits_workspace"][0] is not None and rconf["y_limits_workspace"][1] is not None and rconf["y_limits_workspace"][0] >= rconf["y_limits_workspace"][1]) or \
+                        (rconf["z_limits_workspace"][0] is not None and rconf["z_limits_workspace"][1] is not None and rconf["z_limits_workspace"][0] >= rconf["z_limits_workspace"][1]):
+                            print("Invalid input. Lower limit must be less than upper limit for each axis.")
+                            continue
+                    
+                        print("Current limits:")
+                        print(f"x: {rconf['x_limits_workspace']}")
+                        print(f"y: {rconf['y_limits_workspace']}")
+                        print(f"z: {rconf['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': 
+                rconf["x_limits_workspace"] = [None, None]
+                rconf["y_limits_workspace"] = [None, None]
+                rconf["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
+        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(rconf["joint_names"])):
+                    while True:
+                        try:
+                            lim = robot.qlim.copy()
+                            # Find the link corresponding to the joint name
+                            print("-" * 50)
+                            print(f"Current position limits for joint '{rconf['joint_names'][i]}': [{robot.qlim[0][i]} {robot.qlim[1][i]}] rad")
+                            lower_limit = input(f"Enter the new lower limit for joint '{rconf['joint_names'][i]}' (or press Enter to keep current): ").strip()
+                            upper_limit = input(f"Enter the new upper limit for joint '{rconf['joint_names'][i]}' (or press Enter to keep current): ").strip()
+                            
+                            if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
+                                print("Invalid input. Lower limit must be less than upper limit.")
+                                continue
+                            lower_limit = float(lower_limit) if lower_limit!="" else None
+                            upper_limit = float(upper_limit) if upper_limit!="" else None
+                            if lower_limit is not None:
+                                if lower_limit<lim[0][i]:
+                                    while True:
+                                        sure = input(f"Are you sure you want to set the lower limit to {lower_limit} rad which is less than the default limit {lim[0][i]} (y/n)?: ").strip().lower()
+                                        if sure == 'y':
+                                            lim[0][i] = float(lower_limit)
+                                            break
+                                        elif sure == 'n':
+                                            print("Lower limit not changed.")
+                                            break
+                                        print("Invalid input. Please enter 'y' or 'n'.")
+                                else:
+                                    lim[0][i] = float(lower_limit)
+                            if upper_limit is not None:
+                                if upper_limit>lim[1][i]:
+                                    while True:
+                                        sure = input(f"Are you sure you want to set the upper limit to {upper_limit} rad which is more than the default limit {lim[1][i]} (y/n)?: ").strip().lower()
+                                        if sure == 'y':
+                                            lim[1][i] = float(upper_limit)
+                                            break
+                                        elif sure == 'n':
+                                            print("Upper limit not changed.")
+                                            break
+                                        print("Invalid input. Please enter 'y' or 'n'.")
+                                else:
+                                    lim[1][i] = float(upper_limit)
+                            robot.qlim = lim
+                            print(f"New limits for joint '{rconf['joint_names'][i]}': [{robot.qlim[0][i]} {robot.qlim[1][i]}] rad")
+                            print("-" * 50)
+                            break
+                        except ValueError:
+                            print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
+                break
+            if update_limits == 'n':
+                break
+            print("Invalid input. Please enter 'y' or 'n'.")
+        '''
+        use_link_mask = input("Do you want to use a link mask? (y/n): ").strip().lower()
+        if use_link_mask == 'y':
+            while True:
+                try:
+        '''
+    else:
+        while True:
+            print('+-' * 50)
+            update_limits = input("Do you want to set joint limits? (y/n): ").strip().lower()
+            n_joints = len(rconf["joint_names"])
+            if update_limits == 'y':
+                rconf["joint_lim"] = [[]*n_joints,[]*n_joints]
+                for i, joint in enumerate(rconf["joint_names"]):
+                    while True:
+                        try:
+                            print("-" * 50)
+                            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)
+                                print("      !!!      Invalid input. Lower limit must be less than upper limit.      !!!      ")
+                                continue
+                            rconf["joint_lim"][0][i] = float(lower_limit) if lower_limit!="" else None
+                            rconf["joint_lim"][1][i] = float(upper_limit) if upper_limit!="" else None
+                            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: {rconf["joint_lim"][0]}\n upper: {rconf["joint_lim"][1]}')
+                break
+            elif update_limits == 'n':
+                rconf["joint_lim"] = None
+                break
+            print("Invalid input. Please enter 'y' or 'n'.")
+    while True:
+        try:
+            print('+-' * 50)
+            rconf["trajectory_topic_name"] = input("Enter the topic name to which the joint trajectory should be sent (press Enter for default: '/scaled_joint_trajectory_controller/joint_trajectory'): ").strip()
+            if rconf["trajectory_topic_name"] == "":
+                rconf["trajectory_topic_name"] = '/scaled_joint_trajectory_controller/joint_trajectory'
+                break
+            elif rconf["trajectory_topic_name"].startswith("/"):
+                break
+            else:
+                print("Invalid topic name. A valid topic name should start with '/'.")
+        except Exception as e:
+            print(f"An error occurred: {e}")
+        print('--' * 50)
+    while True:
+        try:
+            print('+-' * 50)
+            rconf["hz"] = input("Enter the desired refresh frequency (Hz) (or press Enter for default: 100): ")
+            if rconf["hz"] == "":
+                rconf["hz"] = 100
+            else:
+                rconf["hz"] = float(rconf["hz"])
+            break
+        except ValueError:
+            print("Invalid input. Please enter a valid number.")
+            continue
+    while True:
+        try:
+            print('+-' * 50)
+            nconf["log_ip"] = str(input("Enter the target IP on which you want to recieve the log as OSC Messages (or press Enter for default: '127.0.0.1'): "))
+            if nconf["log_ip"] == "":
+                nconf["log_ip"] = "127.0.0.1"
+            print('--' * 50)
+            nconf["log_port"] = input("Enter the target port for the log messages (or press Enter for default: 5005): ")
+            if nconf["log_port"] == "":
+                nconf["log_port"] = 5005
+            else:
+                nconf["log_port"] = int(nconf["log_port"])
+            break
+        except ValueError:
+            print("Invalid input. Please enter a valid IP address.")
+            continue
+    while True:
+        try:
+            print('+-' * 50)
+            nconf["state_ip"] = str(input("Enter the target IP on which you want to recieve the joint states as OSC Messages (or press Enter for default: '127.0.0.1'): "))
+            if nconf["state_ip"] == "":
+                nconf["state_ip"] = "127.0.0.1"
+            print('--' * 50)
+            nconf["state_port"] = input("Enter the target port for the joint state messages (or press Enter for default: 7000): ")
+            if nconf["state_port"] == "":
+                nconf["state_port"] = 7000
+            else:
+                nconf["state_port"] = int(nconf["state_port"])
+            break
+        except ValueError:
+            print("Invalid input. Please enter a valid IP address.")
+            continue
+    while True:
+        try:
+            print('+-' * 50)
+            nconf["commands_port"] = input("Enter the port you want to send your commands to (or press Enter for default: 8000): ")
+            if nconf["commands_port"] == nconf["state_port"]:
+                print("The commands port must be different from the state port.")
+                continue
+            if nconf["commands_port"] == "":
+                nconf["commands_port"] = 8000
+            else:
+                nconf["commands_port"] = int(nconf["commands_port"])
+            break
+        except ValueError:
+            print("Invalid input. Please enter a valid port.")
+            continue
+    print()
+    print('=-=' * 50)
+    print()
+    print(f"Sending joint state's' to {nconf['state_ip']}:{nconf['state_port']}")
+    print()
+    print('=-=' * 50)
+    print()
+    print(f"Sending log messages to {nconf['log_ip']}:{nconf['log_port']}")
+    print()
+    print('=-=' * 50)
+    print()
+    print(f"Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{nconf['commands_port']}")
+    print()
+    print('=-=' * 50)
+    print()
+    config["robot"] = rconf
+    config["network"] = nconf
+    while True:
+        save_config = input("Do you want to save this interface? (y/n): ").strip().lower()
+        if save_config == "y":
+            config_path = input("Where do you want to save the config?: ").strip()
+            with open(f"{config_path}.toml", "w") as f:
+                toml.dump(config, f)
+            break
+        elif save_config == "n":
+            print("Will not be saving config")
+        print("Invalid input. Please enter 'y' or 'n'.")
+    return config, robot

workspace/src/osc_ros2/osc_ros2/osc_ros2.py

@@ -1,60 +1,59 @@
+#ruff: noqa: F403, F405
 import rclpy
+import argparse
+import toml
 from rclpy.node import Node
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 from sensor_msgs.msg import JointState
 from rcl_interfaces.msg import Log
 from osc4py3.as_allthreads import *
 from osc4py3 import oscmethod as osm
-import xml.etree.ElementTree as ET
 import numpy as np
 import spatialmath as sm
 import roboticstoolbox as rtb
 from osc4py3 import oscbuildparse
+from osc_ros2.interactive_input import interactive_input
 import time
-import os
 import re
 import socket
 
-class JointNameListener(Node):
-    def __init__(self):
-        super().__init__('joint_name_listener')
-        self.subscription = self.create_subscription(
-            JointState,
-            '/joint_states',
-            self.joint_state_callback,
-            1
-        )
-        self.joint_names = None
-
-    def joint_state_callback(self, msg: JointState):
-        self.joint_names = list(msg.name)
 
 class OSC_ROS2_interface(Node):
     """Node to publish joint trajectories based on OSC messages."""
     
-    def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask):
+    def __init__(self, robot, config):
         super().__init__('scaled_joint_trajectory_publisher')
-        
-
         self.subscription = self.create_subscription(
             JointState,
             '/joint_states',
             self.joint_states_callback,
             1
         )
-
         self.subscription = self.create_subscription(
             Log,
             '/rosout',
             self.log_callback,
             100
         )
-
         # Store received joint positions
         self.current_joint_positions = None
-        self.joint_names = joint_names
-        self.joint_velocity_limits = joint_velocity_limits
-        self.cost_mask = cost_mask
+        self.joint_names = config["robot"]["joint_names"]
+        self.joint_velocity_limits = config["robot"]["joint_velocity_limits"]
+        self.cost_mask = config["robot"]["cost_mask"]
+        self.trajectory_topic_name = config["robot"]["trajectory_topic_name"]
+        self.hz = config["robot"]["hz"]
+        self.state_ip = config["network"]["state_ip"]
+        self.state_port = config["network"]["state_port"]
+        self.log_ip = config["network"]["log_ip"]
+        self.log_port = config["network"]["log_port"]
+        self.commands_port = config["network"]["commands_port"]
+        float_or_none = lambda v: None if "None" in v else float(v)
+        self.x_limits = list(map(float_or_none, config["robot"]["x_limits"]))
+        self.y_limits = list(map(float_or_none, config["robot"]["y_limits"]))
+        self.z_limits = list(map(float_or_none, config["robot"]["z_limits"]))
+        self.x_limits_workspace = list(map(float_or_none, config["robot"]["x_limits_workspace"]))
+        self.y_limits_workspace = list(map(float_or_none, config["robot"]["y_limits_workspace"]))
+        self.z_limits_workspace = list(map(float_or_none, config["robot"]["z_limits_workspace"]))
         self.robot = robot
         self.desired = None
         self.previous_desired = None
@@ -67,220 +66,17 @@ class OSC_ROS2_interface(Node):
         }
         self.speed_scaling = 0.2
         self.new = False
-        self.n_joints = len(joint_names)   
-
-        if robot:
-            while True:
-                print('+-' * 50)
-                set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower()
-                if set_limits == 'y':
-                    while True:
-                                try:
-                                    self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()]
-                                    self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()]
-                                    self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()]
-                                    
-                                    if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2:
-                                        print("Invalid input. Please enter exactly two values (or leave blank) for each limit.")
-                                        continue
-                                    
-                                    if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \
-                                    (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \
-                                    (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]):
-                                        print("Invalid input. Lower limit must be less than upper limit for each axis.")
-                                        continue
-                                    
-                                    print(f"Current limits:")
-                                    print(f"x: {self.x_limits}")
-                                    print(f"y: {self.y_limits}")
-                                    print(f"z: {self.z_limits}")
-                                    con = True
-                                    while con:
-                                        confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower()
-                                        if confirm == 'y':
-                                            break
-                                        elif confirm == 'n':
-                                            print("Please re-enter the limits.")
-                                            con = False
-                                        else:
-                                            print("Invalid input. Please enter 'y' or 'n'.")
-                                    if con: break
-                                except ValueError:
-                                    print("Invalid input. Please enter numeric values only.")
-                    break
-                elif set_limits == 'n': 
-                    self.x_limits = [None, None]
-                    self.y_limits = [None, None]
-                    self.z_limits = [None, None]
-                    break
-                print("Invalid input. Please enter 'y' or 'n'.")
-                        # Ask the user if they want to set new joint limits
-            while True:
-                update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower()
-                if update_limits == 'y':
-                    for i in range(len(self.joint_names)):
-                        while True:
-                            try:
-                                lim = self.robot.qlim.copy()
-                                # Find the link corresponding to the joint name
-                                print("-" * 50)
-                                print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad")
-                                lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip()
-                                upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip()
-                                
-                                if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
-                                    print("Invalid input. Lower limit must be less than upper limit.")
-                                    continue
-                                lower_limit = float(lower_limit) if lower_limit!="" else None
-                                upper_limit = float(upper_limit) if upper_limit!="" else None
-                                if lower_limit!=None:
-                                    if lower_limit<lim[0][i]:
-                                        while True:
-                                            sure = input(f"Are you sure you want to set the lower limit to {lower_limit} rad which is less than the default limit {lim[0][i]} (y/n)?: ").strip().lower()
-                                            if sure == 'y':
-                                                lim[0][i] = float(lower_limit)
-                                                break
-                                            elif sure == 'n':
-                                                print("Lower limit not changed.")
-                                                break
-                                            print("Invalid input. Please enter 'y' or 'n'.")
-                                    else: lim[0][i] = float(lower_limit)
-                                if upper_limit!=None:
-                                    if upper_limit>lim[1][i]:
-                                        while True:
-                                            sure = input(f"Are you sure you want to set the upper limit to {upper_limit} rad which is more than the default limit {lim[1][i]} (y/n)?: ").strip().lower()
-                                            if sure == 'y':
-                                                lim[1][i] = float(upper_limit)
-                                                break
-                                            elif sure == 'n':
-                                                print("Upper limit not changed.")
-                                                break
-                                            print("Invalid input. Please enter 'y' or 'n'.")
-                                    else: lim[1][i] = float(upper_limit)
-                                self.robot.qlim = lim
-                                print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad")
-                                print("-" * 50)
-                                break
-                            except ValueError:
-                                print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
-                    break
-                if update_limits == 'n':
-                    break
-                print("Invalid input. Please enter 'y' or 'n'.")
-            '''
-            use_link_mask = input("Do you want to use a link mask? (y/n): ").strip().lower()
-            if use_link_mask == 'y':
-                while True:
-                    try:
-    '''
-        else:
-            while True:
-                print('+-' * 50)
-                update_limits = input("Do you want to set joint limits? (y/n): ").strip().lower()
-                if update_limits == 'y':
-                    self.joint_lim = [[None]*self.n_joints,[None]*self.n_joints]
-                    for i, joint in enumerate(self.joint_names):
-                        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()
-                                
-                                if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
-                                    print('--' * 50)
-                                    print("      !!!      Invalid input. Lower limit must be less than upper limit.      !!!      ")
-                                    continue
-                                self.joint_lim[0][i] = float(lower_limit) if lower_limit!="" else None
-                                self.joint_lim[1][i] = float(upper_limit) if upper_limit!="" else None
-                                break
-                            except ValueError:
-                                print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
-                    break
-                elif update_limits == 'n':
-                    self.joint_lim = None
-                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:
-            try:
-                print('+-' * 50)
-                self.trajectory_topic_name = input("Enter the topic name to which the joint trajectory should be sent (press Enter for default: '/scaled_joint_trajectory_controller/joint_trajectory'): ").strip()
-                if self.trajectory_topic_name == "":
-                    self.trajectory_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory'
-                    break
-                elif self.trajectory_topic_name.startswith("/"):
-                    break
-                else:
-                    print("Invalid topic name. A valid topic name should start with '/'.")
-            except Exception as e:
-                print(f"An error occurred: {e}")
-
+        self.n_joints = len(self.joint_names)   
         # ROS2 Publisher
         self.publisher = self.create_publisher(
             JointTrajectory, 
             self.trajectory_topic_name, 
             1
         )
-
-        while True:
-            try:
-                print('+-' * 50)
-                log_ip = str(input("Enter the target IP on which you want to recieve the log as OSC Messages (or press Enter for default: '127.0.0.1'): "))
-                if log_ip == "":
-                    log_ip = "127.0.0.1"
-                print('--' * 50)
-                log_port = input("Enter the target port for the log messages (or press Enter for default: 5005): ")
-                if log_port == "":
-                    log_port = 5005
-                else:
-                    log_port = int(log_port)
-                break
-            except ValueError:
-                print("Invalid input. Please enter a valid IP address.")
-                continue
-        while True:
-            try:
-                print('+-' * 50)
-                state_ip = str(input("Enter the target IP on which you want to recieve the joint states as OSC Messages (or press Enter for default: '127.0.0.1'): "))
-                if state_ip == "":
-                    state_ip = "127.0.0.1"
-                print('--' * 50)
-                state_port = input("Enter the target port for the joint state messages (or press Enter for default: 7000): ")
-                if state_port == "":
-                    state_port = 7000
-                else:
-                    state_port = int(state_port)
-                break
-            except ValueError:
-                print("Invalid input. Please enter a valid IP address.")
-                continue
-        while True:
-            try:
-                print('+-' * 50)
-                commands_port = input("Enter the port you want to send your commands to (or press Enter for default: 8000): ")
-                if commands_port == state_port:
-                    print("The commands port must be different from the state port.")
-                    continue
-                if commands_port == "":
-                    commands_port = 8000
-                else:
-                    commands_port = int(commands_port)
-                break
-            except ValueError:
-                print("Invalid input. Please enter a valid port.")
-                continue
-                                
-
         osc_startup()
-
-        osc_udp_client(state_ip, state_port, "osc_client")
-
-        osc_udp_client(log_ip, log_port, "osc_log_client")
-
-        osc_udp_server('0.0.0.0', commands_port, "osc_server")
-
+        osc_udp_client(self.state_ip, self.state_port, "osc_client")
+        osc_udp_client(self.log_ip, self.log_port, "osc_log_client")
+        osc_udp_server('0.0.0.0', self.commands_port, "osc_server")
         # Register OSC handler
         osc_method("/joint_positions", self.joint_positions_handler, argscheme=osm.OSCARG_DATAUNPACK)
         osc_method("/joint_position/*", self.joint_position_handler, argscheme=osm.OSCARG_ADDRESS+osm.OSCARG_DATAUNPACK)
@@ -288,39 +84,10 @@ class OSC_ROS2_interface(Node):
         osc_method("/joint_trajectory", self.joint_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
         osc_method("/cartesian_trajectory", self.cartesian_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
         osc_method("/speed_scaling", self.speed_scaling_handler, argscheme=osm.OSCARG_DATAUNPACK)
-        print('--' * 50)
-        while True:
-            try:
-                print('+-' * 50)
-                self.hz = input("Enter the desired refresh frequency (Hz) (or press Enter for default: 100): ")
-                if self.hz == "":
-                    self.hz = 100
-                else:
-                    self.hz = float(self.hz)
-                break
-            except ValueError:
-                print("Invalid input. Please enter a valid number.")
-                continue
-        print()
-        print('=-=' * 50)
-        print()
-        print(f'Sending joint states to {state_ip}:{state_port}')
-        print()
-        print('=-=' * 50)
-        print()
-        print(f'Sending log messages to {log_ip}:{log_port}')
-        print()
-        print('=-=' * 50)
-        print()
-        print(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
-        print()
-        print('=-=' * 50)
-        print()
-
         self.get_logger().info(f"Publishing joint trajectory to {self.trajectory_topic_name}")
-        self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
-        self.get_logger().info(f'Sending joint states to {state_ip}:{state_port}')
-        self.get_logger().info(f'Sending log messages to {log_ip}:{log_port}')
+        self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{self.commands_port}')
+        self.get_logger().info(f'Sending joint states to {self.state_ip}:{self.state_port}')
+        self.get_logger().info(f'Sending log messages to {self.log_ip}:{self.log_port}')
         self.create_timer(1/self.hz, self.update_position)  # Timer to update the position
         self.create_timer(3, self.reset_prev)  # reset the previous desired position
 
@@ -343,13 +110,24 @@ 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("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."""
         try:
             joint_name = address.split("/")[-1]
-            
             if joint_name in self.joint_names:
                 if len(args) == 1:
                     position = float(args[0])
@@ -416,12 +194,23 @@ class OSC_ROS2_interface(Node):
                 self.get_logger().warn(f"joint_position_handler: Joint '{joint_name}' not found in the robot model.")
         except Exception as e:
             self.get_logger().fatal(f"joint_position_handler: {e}")
-        
 
     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("cartesian_trajectory_handler: Duration is not supported for cartesian trajectory yet. Ignoring duration.")
+                else:
+                    self.get_logger().warn("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
@@ -436,7 +225,6 @@ class OSC_ROS2_interface(Node):
             else:
                 self.get_logger().warn(f"joint_positions_handler: Invalid number of arguments for joint positions. Expected {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]) or {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]), but got {len(args)}.")
                 return
-
             # Check if joint positions exceed limits
             if self.robot:
                 for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):  # Exclude duration if present
@@ -451,18 +239,20 @@ 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
         except Exception as e:
@@ -481,7 +271,6 @@ class OSC_ROS2_interface(Node):
                 else:
                     self.get_logger().warn(f"tcp_coordinates_handler: Invalid number of arguments for TCP coordinates. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args)}.")
                     return
-
                 if self.x_limits[0] is not None:
                     x = max(self.x_limits[0], x)
                 if self.x_limits[1] is not None:
@@ -494,13 +283,11 @@ class OSC_ROS2_interface(Node):
                     z = max(self.z_limits[0], z)
                 if self.z_limits[1] is not None:
                     z = min(self.z_limits[1], z)
-
                 if x != args[0] or y != args[1] or z != args[2]:
                     self.get_logger().warn(
                     f"tcp_coordinates_handler: Desired joint positions adjusted to fit within limits: "
                     f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})"
                     )
-
                 self.desired = ["tcp_coordinates", x, y, z, r, p, yaw, duration]
                 self.new = True
             except Exception as e:
@@ -509,23 +296,21 @@ class OSC_ROS2_interface(Node):
             self.get_logger().warn("tcp_coordinates_handler: No robot model provided. Cannot handle TCP coordinates.")
             return
             
-
     def joint_states_callback(self, msg: JointState):
         """Callback function to handle incoming joint states."""
         try:
-            msg_time = oscbuildparse.OSCMessage(f"/time", ',s', [str(time.time())])
+            msg_time = oscbuildparse.OSCMessage("/time", ',s', [str(time.time())])
             osc_send(msg_time, "osc_client")
-            if not(self.joint_names): self.joint_names = msg.name
+            if not(self.joint_names):
+                self.joint_names = msg.name
             joint_position_dict = dict(zip(msg.name, msg.position))
             self.current_joint_positions = [float(joint_position_dict[name]) for name in self.joint_names]
             joint_position_dict = dict(zip(msg.name, msg.velocity))
             self.current_joint_velocities = [float(joint_position_dict[name]) for name in self.joint_names]
-
             if self.robot:
                 tcp_position = self.robot.fkine(self.current_joint_positions).t
                 tcp_orientation = self.robot.fkine(self.current_joint_positions).rpy()
-
-                msg_tcp = oscbuildparse.OSCMessage(f"/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]])
+                msg_tcp = oscbuildparse.OSCMessage("/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]])
                 #msg_x = oscbuildparse.OSCMessage(f"/tcp_coordinates/x", ',f', [tcp_position[0]])
                 #msg_y = oscbuildparse.OSCMessage(f"/tcp_coordinates/y", ',f', [tcp_position[1]])
                 #msg_z = oscbuildparse.OSCMessage(f"/tcp_coordinates/z", ',f', [tcp_position[2]])
@@ -535,21 +320,18 @@ class OSC_ROS2_interface(Node):
                 #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_tcp, msg_x, msg_y, msg_z, msg_roll, msg_pitch, msg_yaw])
                 #osc_send(bun, "osc_client") 
                 osc_send(msg_tcp, "osc_client")
-            
-            msg_position = oscbuildparse.OSCMessage(f"/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position])
-            msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity])
-            msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort])
-            msg_name = oscbuildparse.OSCMessage(f"/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name])
+            msg_position = oscbuildparse.OSCMessage("/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position])
+            msg_velocity = oscbuildparse.OSCMessage("/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity])
+            msg_effort = oscbuildparse.OSCMessage("/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort])
+            msg_name = oscbuildparse.OSCMessage("/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name])
             bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_name, msg_position, msg_velocity, msg_effort])
             osc_send(bun, "osc_client")
-
             #for i, name in enumerate(msg.name):
             #    msg_position = oscbuildparse.OSCMessage(f"/joint_state/position/{name}", ',f', [msg.position[i]])
             #    msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity/{name}", ',f', [msg.velocity[i]])
             #    msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort/{name}", ',f', [msg.effort[i]])
             #    bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_position, msg_velocity, msg_effort])
             #    osc_send(bun, "osc_client")
-
         except Exception as e:
             self.get_logger().fatal(f"joint_states_callback: {e}")
 
@@ -594,21 +376,17 @@ class OSC_ROS2_interface(Node):
             return
 
     def trapezoidal_timestamps(self, num_points,total_duration,  flat_ratio = 0.3):
-        
         if num_points == 2:
             return [0, total_duration]
         n = int(num_points*(1-flat_ratio)/2)
         start = np.cos(np.linspace(0, np.pi, n))+2
         end = np.cos(np.linspace(-np.pi, 0, n))+2
         flat = np.ones(num_points-2*n)
-
         timestamps = np.concatenate((start, flat, end))
         timestamps *= total_duration / timestamps.sum()
         timestamps = np.cumsum(timestamps)
-
         return timestamps.tolist()
 
-
     def send_tcp_coordinates(self):
         """Send the desired TCP coordinates to the robot."""
         try:
@@ -616,7 +394,7 @@ class OSC_ROS2_interface(Node):
             msg = JointTrajectory()
             msg.joint_names = self.joint_names
             steps_per_m = 100
-            if self.previous_desired == None: 
+            if self.previous_desired is None: 
                 [x,y,z] = self.robot.fkine(self.current_joint_positions).t
                 [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy()
             else:
@@ -625,7 +403,8 @@ class OSC_ROS2_interface(Node):
             x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7]
             self.previous_desired = self.desired
             steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m)
-            if steps < 2: steps = 2
+            if steps < 2:
+                steps = 2
             cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)]
             '''if self.previous_desired:
                 [x,y,z] = self.previous_desired[1:4]
@@ -668,16 +447,13 @@ class OSC_ROS2_interface(Node):
 
                 # Compose SE3 transform
                 cart_traj.append(sm.SE3(pos_interp) * q_interp.SE3())'''
-
-
-            
             if self.desired[-1]:
                 timestamps = self.trapezoidal_timestamps(steps, self.desired[-1], 0.8)
                 for j in range(steps):
                     sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan')
                     if sol[1] == 1:
                         fowards = self.robot.fkine_all(sol[0])
-                        out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False)
+                        out_of_bounds = (fowards.t[1:,0] > self.x_limits_workspace[1] if self.x_limits_workspace[1] is not None else False) | (fowards.t[1:,0] < self.x_limits_workspace[0] if self.x_limits_workspace[0] is not None else False) | (fowards.t[1:,1] > self.y_limits_workspace[1] if self.y_limits_workspace[1] is not None else False) | (fowards.t[1:,1] < self.y_limits_workspace[0] if self.y_limits_workspace[0] is not None else False) | (fowards.t[1:,2] > self.z_limits_workspace[1] if self.z_limits_workspace[1] is not None else False) | (fowards.t[1:,2] < self.z_limits_workspace[0] if self.z_limits_workspace[0] is not None else False)
                         if np.any(out_of_bounds):
                             #print(fowards.t)
                             #indices = np.where(out_of_bounds)[0]
@@ -712,9 +488,6 @@ class OSC_ROS2_interface(Node):
                 msg.header.stamp = self.get_clock().now().to_msg()
                 self.publisher.publish(msg)
                 self.previous_desired = self.desired
-
-
-
             else:
                 prev_duration = 0
                 '''
@@ -729,7 +502,7 @@ 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] is not None else False) | (fowards.t[1:,0] < self.x_limits_workspace[0] if self.x_limits_workspace[0] is not None else False) | (fowards.t[1:,1] > self.y_limits_workspace[1] if self.y_limits_workspace[1] is not None else False) | (fowards.t[1:,1] < self.y_limits_workspace[0] if self.y_limits_workspace[0] is not None else False) | (fowards.t[1:,2] > self.z_limits_workspace[1] if self.z_limits_workspace[1] is not None else False) | (fowards.t[1:,2] < self.z_limits_workspace[0] if self.z_limits_workspace[0] is not None else False)
                         if np.any(out_of_bounds):
                             #print(fowards.t)
                             #indices = np.where(out_of_bounds)[0]
@@ -774,11 +547,58 @@ 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):
@@ -786,7 +606,6 @@ class OSC_ROS2_interface(Node):
         try:
             if self.desired is None or not(self.new):
                 return
-
             if self.desired[0] == "joint_positions":
                 self.new = False
                 self.send_joint_positions()
@@ -806,35 +625,26 @@ class OSC_ROS2_interface(Node):
             else:
                 self.get_logger().warn(f"update_position: Unknown desired type '{self.desired[0]}'.")
                 return
-
-
         except Exception as e:
             self.get_logger().fatal(f'update_position: {e}')
                 
 
     def clean_log_string(self, s):
-
         s = str(s)
-
         # Remove ANSI escape sequences (e.g., \x1b[31m)
         ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])')
         s = ansi_escape.sub('', s)
-
         # Replace tabs/newlines with spaces
         s = s.replace('\n', ' ').replace('\r', ' ').replace('\t', ' ').replace("'", ' '). replace('"', ' ').replace('`', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ')
-
         # Strip leading/trailing whitespace
         s = s.strip()
-
         # Optionally enforce ASCII only (replace non-ASCII chars with '?')
         s = s.encode('ascii', 'replace').decode('ascii')
-
         return s
 
     
     def log_callback(self, msg: Log):
         """Callback function to handle incoming log messages."""
-
         # Send the log message as an OSC message
         msg_log = oscbuildparse.OSCMessage(f"/log/{self.log_dict.get(msg.level, 'UNKNOWN')}", ',isss', [int(msg.level), str(msg.stamp.sec+msg.stamp.nanosec*1e-9) , str(msg.name), self.clean_log_string(msg.msg)])
         osc_send(msg_log, "osc_log_client")
@@ -842,122 +652,16 @@ class OSC_ROS2_interface(Node):
 
 def main():
     """Main function to get joint names and start the ROS 2 & OSC system."""
+    parser = argparse.ArgumentParser(description="An interface between ROS2 and OSC for robotic arm manipulators", usage="ros2 run osc_ros2 interface [-c CONFIG.TOML]")
+    parser.add_argument("-c", "--config", type=argparse.FileType("r"), help="A robot TOML config, if the config is provided then the interface will not show the iteractive input")
+    args = parser.parse_args()
     rclpy.init()
-    while True:
-        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: ")
-                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.")
-                        continue
-                    break
-                else:
-                    print("Invalid path. Please enter a valid path to the URDF file.")
-            tree = ET.parse(robot_urdf)
-            root = tree.getroot()
-            robot = rtb.ERobot.URDF(robot_urdf)
-            joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
-            print(robot)
-            joint_velocity_limits = {}
-
-            # Iterate over all joints in the URDF
-            for joint in root.findall('.//joint'):
-                joint_name = joint.get('name')  # Get the name of the joint
-                
-                # Look for the <limit> tag under each joint
-                limit = joint.find('limit')
-                
-                if limit is not None:
-                    # Extract the velocity limit (if it exists)
-                    velocity_limit = limit.get('velocity')
-                    
-                    if velocity_limit is not None:
-                        joint_velocity_limits[joint_name] = float(velocity_limit)
-            
-            while True:
-                try:
-                    print('-+'*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.")
-                    cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
-                    if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
-                        break
-                    else:
-                        print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
-                except ValueError:
-                    print("Invalid input. Please enter integers only.")
-            print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if cost_mask[i]==1]}")
-            break
-        elif use_urdf == 'n':
-            node = JointNameListener()
-            print("Wainting 10 sec for JointState messages to extract joint names...")
-            rclpy.spin_once(node)
-            counter = 0
-            while not(node.joint_names):
-                if counter > 100:
-                    joint_names = None
-                    break
-                counter+=1
-                time.sleep(0.1)
-                rclpy.spin_once(node)
-            joint_names = node.joint_names
-            node.destroy_node()
-            if joint_names:
-                correct_names = input("The following joint names were found:\n" + "\n".join(joint_names) + "\nAre these correct? (y/n): ").strip().lower()
-                while True:
-                    if correct_names == 'y':
-                        break
-                    elif correct_names == 'n':
-                        joint_names = None
-                        break
-                    correct_names = input("Invalid input. Please enter 'y' or 'n'.")
-            if not(joint_names):
-                print("Please enter the joint names manually.")
-                while True:
-                        joint_names = []
-                        print('-+'*50)
-                        print("Enter the joint names manually one by one. Type 'done' when you are finished:")
-                        print("Attention: The order of the joints is important. It should be the same in which you want to send the joint positions.")
-                        while True:
-                            print('-'*50)
-                            joint_name = input("Enter joint name (or 'done' to finish): ").strip()
-                            if joint_name.lower() == 'done':
-                                break
-                            if joint_name:
-                                joint_names.append(joint_name)
-                        print('-+'*50)
-                        correct_names = input(f"Are those the joint names as defined in your JointTrajectroy recieving Node?: {joint_names}. (y/n)?: ").strip()
-                        if correct_names.lower() == 'y':
-                            break
-                        else:
-                            print("Please re-enter the joint names.")
-            while True:
-                try:
-                    joint_velocity_limits = {}
-                    for name in joint_names:
-                        while True:
-                            try:
-                                print('--'*50)
-                                limit = input(f"Enter the velocity limit for joint '{name}': ").strip()
-                                if limit == "":
-                                    continue
-                                else:
-                                    joint_velocity_limits[name] = float(limit)
-                                    break
-                            except ValueError:
-                                print("Invalid input. Please enter a numeric value or press Enter to skip.")
-                    break
-                except ValueError:
-                    print("Invalid input. Please enter numeric values or leave blank to skip.")
-            robot = None
-            cost_mask = None
-            break
-        print("Invalid input. Please enter 'y' or 'n'.")
-
-
-    node = OSC_ROS2_interface(joint_names, joint_velocity_limits, robot, cost_mask)
+    if not args.config:
+        config, robot = interactive_input()
+    else:
+        config = toml.load(args.config)
+        robot = rtb.ERobot.URDF(config["robot"]["urdf"])
+    node = OSC_ROS2_interface(robot, config)
     
     # Run ROS 2 spin, and osc_process will be handled by the timer
     try:
@@ -966,7 +670,6 @@ def main():
         print("")
     finally:
         node.destroy_node()
-        rclpy.shutdown()
         osc_terminate()
 
 if __name__ == '__main__':

workspace/src/osc_ros2/package.xml

@@ -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>
 

workspace/src/osc_ros2/setup.py

@@ -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',
@@ -14,11 +14,10 @@ setup(
     install_requires=[
         'setuptools',
         'osc4py3',
-        'roboticstoolbox-python==1.1.1',
+        'roboticstoolbox-python',
         'numpy==1.22.4',
         'scipy==1.7.3',
-        'spatialmath-python==1.1.14',
-        'matplotlib==3.4.3',],
+        'spatialmath-python'],
     zip_safe=True,
     maintainer='Alexander Schaefer',
     maintainer_email='a.schaefer@tuhh.de',

workspace/ur10e.toml

@@ -0,0 +1,27 @@
+[robot]
+urdf = "/workspace/ur10e.urdf"
+joint_names = [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint",]
+cost_mask_string = "111111"
+x_limits = [ "None", "None",]
+y_limits = [ "None", "None",]
+z_limits = [ "None", "None",]
+x_limits_workspace = [ "None", "None",]
+y_limits_workspace = [ "None", "None",]
+z_limits_workspace = [ "None", "None",]
+trajectory_topic_name = "/scaled_joint_trajectory_controller/joint_trajectory"
+hz = 100
+
+[network]
+log_ip = "127.0.0.1"
+log_port = 5005
+state_ip = "127.0.0.1"
+state_port = 7000
+commands_port = 8000
+
+[robot.joint_velocity_limits]
+shoulder_pan_joint = 2.0943951023931953
+shoulder_lift_joint = 2.0943951023931953
+elbow_joint = 3.141592653589793
+wrist_1_joint = 3.141592653589793
+wrist_2_joint = 3.141592653589793
+wrist_3_joint = 3.141592653589793