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@echo "... ros2_control_demo_example_2_uninstall" - @echo "... uninstall" - @echo "... ros2_control_demo_example_2" - @echo "... hardware/diffbot_system.o" - @echo "... hardware/diffbot_system.i" - @echo "... hardware/diffbot_system.s" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/package.cmake b/build/ros2_control_demo_example_2/ament_cmake_core/package.cmake deleted file mode 100644 index 2e72db7..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/package.cmake +++ /dev/null @@ -1,14 +0,0 @@ -set(_AMENT_PACKAGE_NAME "ros2_control_demo_example_2") -set(ros2_control_demo_example_2_VERSION "0.0.0") -set(ros2_control_demo_example_2_MAINTAINER "Dr.-Ing. Denis Štogl , Bence Magyar , Christoph Froehlich ") -set(ros2_control_demo_example_2_BUILD_DEPENDS "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle") -set(ros2_control_demo_example_2_BUILDTOOL_DEPENDS "ament_cmake") -set(ros2_control_demo_example_2_BUILD_EXPORT_DEPENDS "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle") -set(ros2_control_demo_example_2_BUILDTOOL_EXPORT_DEPENDS ) -set(ros2_control_demo_example_2_EXEC_DEPENDS "ros2_controllers_test_nodes" "joint_state_broadcaster" "diff_drive_controller" "ros2controlcli" "controller_manager" "rviz2" "robot_state_publisher" "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle") -set(ros2_control_demo_example_2_TEST_DEPENDS "ament_cmake_gtest") -set(ros2_control_demo_example_2_GROUP_DEPENDS ) -set(ros2_control_demo_example_2_MEMBER_OF_GROUPS ) -set(ros2_control_demo_example_2_DEPRECATED "") -set(ros2_control_demo_example_2_EXPORT_TAGS) -list(APPEND ros2_control_demo_example_2_EXPORT_TAGS "ament_cmake") diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake b/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake deleted file mode 100644 index 7beb732..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config.cmake b/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config.cmake deleted file mode 100644 index 26a50ec..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig.cmake.in - -# prevent multiple inclusion -if(_ros2_control_demo_example_2_CONFIG_INCLUDED) - # ensure to keep the found flag the same - if(NOT DEFINED ros2_control_demo_example_2_FOUND) - # explicitly set it to FALSE, otherwise CMake will set it to TRUE - set(ros2_control_demo_example_2_FOUND FALSE) - elseif(NOT ros2_control_demo_example_2_FOUND) - # use separate condition to avoid uninitialized variable warning - set(ros2_control_demo_example_2_FOUND FALSE) - endif() - return() -endif() -set(_ros2_control_demo_example_2_CONFIG_INCLUDED TRUE) - -# output package information -if(NOT ros2_control_demo_example_2_FIND_QUIETLY) - message(STATUS "Found ros2_control_demo_example_2: 0.0.0 (${ros2_control_demo_example_2_DIR})") -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "Package 'ros2_control_demo_example_2' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - # optionally quiet the deprecation message - if(NOT ${ros2_control_demo_example_2_DEPRECATED_QUIET}) - message(DEPRECATION "${_msg}") - endif() -endif() - -# flag package as ament-based to distinguish it after being find_package()-ed -set(ros2_control_demo_example_2_FOUND_AMENT_PACKAGE TRUE) - -# include all config extra files -set(_extras "ament_cmake_export_targets-extras.cmake;ament_cmake_export_dependencies-extras.cmake") -foreach(_extra ${_extras}) - include("${ros2_control_demo_example_2_DIR}/${_extra}") -endforeach() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp deleted file mode 100644 index ef20a85..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_cmake_export_dependencies-extras.cmake.stamp +++ /dev/null @@ -1,92 +0,0 @@ -# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in - -set(_exported_dependencies "hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle") - -find_package(ament_cmake_libraries QUIET REQUIRED) - -# find_package() all dependencies -# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS -# variables to ros2_control_demo_example_2_DEFINITIONS, ros2_control_demo_example_2_INCLUDE_DIRS, -# ros2_control_demo_example_2_LIBRARIES, and ros2_control_demo_example_2_LINK_FLAGS. -# Additionally collect the direct dependency names in -# ros2_control_demo_example_2_DEPENDENCIES as well as the recursive dependency names -# in ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES. -if(NOT _exported_dependencies STREQUAL "") - find_package(ament_cmake_core QUIET REQUIRED) - set(ros2_control_demo_example_2_DEPENDENCIES ${_exported_dependencies}) - set(ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES ${_exported_dependencies}) - set(_libraries) - foreach(_dep ${_exported_dependencies}) - if(NOT ${_dep}_FOUND) - find_package("${_dep}" QUIET REQUIRED) - endif() - # if a package provides modern CMake interface targets use them - # exclusively assuming the classic CMake variables only exist for - # backward compatibility - set(use_modern_cmake FALSE) - if(NOT "${${_dep}_TARGETS}" STREQUAL "") - foreach(_target ${${_dep}_TARGETS}) - # only use actual targets - # in case a package uses this variable for other content - if(TARGET "${_target}") - get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES) - if(_include_dirs) - list_append_unique(ros2_control_demo_example_2_INCLUDE_DIRS "${_include_dirs}") - endif() - - get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS) - if(_imported_configurations) - string(TOUPPER "${_imported_configurations}" _imported_configurations) - if(DEBUG_CONFIGURATIONS) - string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase) - else() - set(_debug_configurations_uppercase "DEBUG") - endif() - foreach(_imported_config ${_imported_configurations}) - get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config}) - if(_imported_implib) - set(_imported_implib_config "optimized") - if(${_imported_config} IN_LIST _debug_configurations_uppercase) - set(_imported_implib_config "debug") - endif() - list(APPEND _libraries ${_imported_implib_config} ${_imported_implib}) - else() - get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config}) - if(_imported_location) - list(APPEND _libraries "${_imported_location}") - endif() - endif() - endforeach() - endif() - - get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES) - if(_link_libraries) - list(APPEND _libraries "${_link_libraries}") - endif() - set(use_modern_cmake TRUE) - endif() - endforeach() - endif() - if(NOT use_modern_cmake) - if(${_dep}_DEFINITIONS) - list_append_unique(ros2_control_demo_example_2_DEFINITIONS "${${_dep}_DEFINITIONS}") - endif() - if(${_dep}_INCLUDE_DIRS) - list_append_unique(ros2_control_demo_example_2_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") - endif() - if(${_dep}_LIBRARIES) - list(APPEND _libraries "${${_dep}_LIBRARIES}") - endif() - if(${_dep}_LINK_FLAGS) - list_append_unique(ros2_control_demo_example_2_LINK_FLAGS "${${_dep}_LINK_FLAGS}") - endif() - if(${_dep}_RECURSIVE_DEPENDENCIES) - list_append_unique(ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}") - endif() - endif() - if(_libraries) - ament_libraries_deduplicate(_libraries "${_libraries}") - list(APPEND ros2_control_demo_example_2_LIBRARIES "${_libraries}") - endif() - endforeach() -endif() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp deleted file mode 100644 index 70e82cd..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_cmake_export_targets-extras.cmake.stamp +++ /dev/null @@ -1,27 +0,0 @@ -# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in - -set(_exported_targets "export_ros2_control_demo_example_2") - -# include all exported targets -if(NOT _exported_targets STREQUAL "") - foreach(_target ${_exported_targets}) - set(_export_file "${ros2_control_demo_example_2_DIR}/${_target}Export.cmake") - include("${_export_file}") - - # extract the target names associated with the export - set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)") - file( - STRINGS "${_export_file}" _foreach_targets - REGEX "${_regex}") - list(LENGTH _foreach_targets _matches) - if(NOT _matches EQUAL 1) - message(FATAL_ERROR - "Failed to find exported target names in '${_export_file}'") - endif() - string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}") - string(REPLACE " " ";" _targets "${_targets}") - list(LENGTH _targets _length) - - list(APPEND ros2_control_demo_example_2_TARGETS ${_targets}) - endforeach() -endif() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp deleted file mode 100644 index 02e441b..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/ament_prefix_path.sh.stamp +++ /dev/null @@ -1,4 +0,0 @@ -# copied from -# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh - -ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/library_path.sh.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/library_path.sh.stamp deleted file mode 100644 index 292e518..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/library_path.sh.stamp +++ /dev/null @@ -1,16 +0,0 @@ -# copied from ament_package/template/environment_hook/library_path.sh - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -if [ $_IS_DARWIN -eq 0 ]; then - ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib" -else - ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib" -fi -unset _IS_DARWIN diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp deleted file mode 100644 index ee49c9f..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "@PACKAGE_VERSION@") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp deleted file mode 100644 index 6fb3fe7..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/nameConfig.cmake.in.stamp +++ /dev/null @@ -1,42 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig.cmake.in - -# prevent multiple inclusion -if(_@PROJECT_NAME@_CONFIG_INCLUDED) - # ensure to keep the found flag the same - if(NOT DEFINED @PROJECT_NAME@_FOUND) - # explicitly set it to FALSE, otherwise CMake will set it to TRUE - set(@PROJECT_NAME@_FOUND FALSE) - elseif(NOT @PROJECT_NAME@_FOUND) - # use separate condition to avoid uninitialized variable warning - set(@PROJECT_NAME@_FOUND FALSE) - endif() - return() -endif() -set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) - -# output package information -if(NOT @PROJECT_NAME@_FIND_QUIETLY) - message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") -endif() - -# warn when using a deprecated package -if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") - set(_msg "Package '@PROJECT_NAME@' is deprecated") - # append custom deprecation text if available - if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") - set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") - endif() - # optionally quiet the deprecation message - if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) - message(DEPRECATION "${_msg}") - endif() -endif() - -# flag package as ament-based to distinguish it after being find_package()-ed -set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) - -# include all config extra files -set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") -foreach(_extra ${_extras}) - include("${@PROJECT_NAME@_DIR}/${_extra}") -endforeach() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/package.xml.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/package.xml.stamp deleted file mode 100644 index b98693d..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/package.xml.stamp +++ /dev/null @@ -1,36 +0,0 @@ - - - - ros2_control_demo_example_2 - 0.0.0 - Demo package of `ros2_control` hardware for DiffBot. - - Dr.-Ing. Denis Štogl - Bence Magyar - Christoph Froehlich - - Dr.-Ing. Denis Štogl - - Apache-2.0 - - ament_cmake - - hardware_interface - pluginlib - rclcpp - rclcpp_lifecycle - - ros2_controllers_test_nodes - joint_state_broadcaster - diff_drive_controller - ros2controlcli - controller_manager - rviz2 - robot_state_publisher - - ament_cmake_gtest - - - ament_cmake - - diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp deleted file mode 100644 index 8be9894..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp +++ /dev/null @@ -1,150 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2014-2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import argparse -from collections import OrderedDict -import os -import sys - -from catkin_pkg.package import parse_package_string - - -def main(argv=sys.argv[1:]): - """ - Extract the information from package.xml and make them accessible to CMake. - - Parse the given package.xml file and - print CMake code defining several variables containing the content. - """ - parser = argparse.ArgumentParser( - description='Parse package.xml file and print CMake code defining ' - 'several variables', - ) - parser.add_argument( - 'package_xml', - type=argparse.FileType('r', encoding='utf-8'), - help='The path to a package.xml file', - ) - parser.add_argument( - 'outfile', - nargs='?', - help='The filename where the output should be written to', - ) - args = parser.parse_args(argv) - - try: - package = parse_package_string( - args.package_xml.read(), filename=args.package_xml.name) - except Exception as e: - print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) - raise e - finally: - args.package_xml.close() - - lines = generate_cmake_code(package) - if args.outfile: - with open(args.outfile, 'w', encoding='utf-8') as f: - for line in lines: - f.write('%s\n' % line) - else: - for line in lines: - print(line) - - -def get_dependency_values(key, depends): - dependencies = [] - - # Filter the dependencies, checking for any condition attributes - dependencies.append((key, ' '.join([ - '"%s"' % str(d) for d in depends - if d.condition is None or d.evaluate_condition(os.environ) - ]))) - - for d in depends: - comparisons = [ - 'version_lt', - 'version_lte', - 'version_eq', - 'version_gte', - 'version_gt'] - for comp in comparisons: - value = getattr(d, comp, None) - if value is not None: - dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), - '"%s"' % value)) - return dependencies - - -def generate_cmake_code(package): - """ - Return a list of CMake set() commands containing the manifest information. - - :param package: catkin_pkg.package.Package - :returns: list of str - """ - variables = [] - variables.append(('VERSION', '"%s"' % package.version)) - - variables.append(( - 'MAINTAINER', - '"%s"' % (', '.join([str(m) for m in package.maintainers])))) - - variables.extend(get_dependency_values('BUILD_DEPENDS', - package.build_depends)) - variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', - package.buildtool_depends)) - variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', - package.build_export_depends)) - variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', - package.buildtool_export_depends)) - variables.extend(get_dependency_values('EXEC_DEPENDS', - package.exec_depends)) - variables.extend(get_dependency_values('TEST_DEPENDS', - package.test_depends)) - variables.extend(get_dependency_values('GROUP_DEPENDS', - package.group_depends)) - variables.extend(get_dependency_values('MEMBER_OF_GROUPS', - package.member_of_groups)) - - deprecated = [e.content for e in package.exports - if e.tagname == 'deprecated'] - variables.append(('DEPRECATED', - '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') - if deprecated - else ''))) - - lines = [] - lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) - for (k, v) in variables: - lines.append('set(%s_%s %s)' % (package.name, k, v)) - - lines.append('set(%s_EXPORT_TAGS)' % package.name) - replaces = OrderedDict() - replaces['${prefix}/'] = '' - replaces['\\'] = '\\\\' # escape backslashes - replaces['"'] = '\\"' # prevent double quotes to end the CMake string - replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators - for export in package.exports: - export = str(export) - for k, v in replaces.items(): - export = export.replace(k, v) - lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) - - return lines - - -if __name__ == '__main__': - main() diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/path.sh.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/path.sh.stamp deleted file mode 100644 index e59b749..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/path.sh.stamp +++ /dev/null @@ -1,5 +0,0 @@ -# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh - -if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then - ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" -fi diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/ros2_control_demo_example_2/ament_cmake_core/stamps/templates_2_cmake.py.stamp deleted file mode 100644 index fb2fb47..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/stamps/templates_2_cmake.py.stamp +++ /dev/null @@ -1,112 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2014-2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import argparse -import os -import sys - -from ament_package.templates import get_environment_hook_template_path -from ament_package.templates import get_package_level_template_names -from ament_package.templates import get_package_level_template_path -from ament_package.templates import get_prefix_level_template_names -from ament_package.templates import get_prefix_level_template_path - -IS_WINDOWS = os.name == 'nt' - - -def main(argv=sys.argv[1:]): - """ - Extract the information about templates provided by ament_package. - - Call the API provided by ament_package and - print CMake code defining several variables containing information about - the available templates. - """ - parser = argparse.ArgumentParser( - description='Extract information about templates provided by ' - 'ament_package and print CMake code defining several ' - 'variables', - ) - parser.add_argument( - 'outfile', - nargs='?', - help='The filename where the output should be written to', - ) - args = parser.parse_args(argv) - - lines = generate_cmake_code() - if args.outfile: - basepath = os.path.dirname(args.outfile) - if not os.path.exists(basepath): - os.makedirs(basepath) - with open(args.outfile, 'w') as f: - for line in lines: - f.write('%s\n' % line) - else: - for line in lines: - print(line) - - -def generate_cmake_code(): - """ - Return a list of CMake set() commands containing the template information. - - :returns: list of str - """ - variables = [] - - if not IS_WINDOWS: - variables.append(( - 'ENVIRONMENT_HOOK_LIBRARY_PATH', - '"%s"' % get_environment_hook_template_path('library_path.sh'))) - else: - variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) - - ext = '.bat.in' if IS_WINDOWS else '.sh.in' - variables.append(( - 'ENVIRONMENT_HOOK_PYTHONPATH', - '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) - - templates = [] - for name in get_package_level_template_names(): - templates.append('"%s"' % get_package_level_template_path(name)) - variables.append(( - 'PACKAGE_LEVEL', - templates)) - - templates = [] - for name in get_prefix_level_template_names(): - templates.append('"%s"' % get_prefix_level_template_path(name)) - variables.append(( - 'PREFIX_LEVEL', - templates)) - - lines = [] - for (k, v) in variables: - if isinstance(v, list): - lines.append('set(ament_cmake_package_templates_%s "")' % k) - for vv in v: - lines.append('list(APPEND ament_cmake_package_templates_%s %s)' - % (k, vv)) - else: - lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) - # Ensure backslashes are replaced with forward slashes because CMake cannot - # parse files with backslashes in it. - return [line.replace('\\', '/') for line in lines] - - -if __name__ == '__main__': - main() diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/ament_prefix_path.dsv deleted file mode 100644 index 79d4c95..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/ament_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/library_path.dsv b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/library_path.dsv deleted file mode 100644 index 89bec93..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/library_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;LD_LIBRARY_PATH;lib diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.bash b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.bash deleted file mode 100644 index 49782f2..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.bash +++ /dev/null @@ -1,46 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.bash.in - -# source local_setup.sh from same directory as this file -_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) -# provide AMENT_CURRENT_PREFIX to shell script -AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) -# store AMENT_CURRENT_PREFIX to restore it before each environment hook -_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX - -# trace output -if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_this_path/local_setup.sh\"" -fi -. "$_this_path/local_setup.sh" -unset _this_path - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks -AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX -# list all environment hooks of this package - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - # restore AMENT_CURRENT_PREFIX for each environment hook - AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - . "$_hook" - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -unset _package_local_setup_AMENT_CURRENT_PREFIX -unset AMENT_CURRENT_PREFIX diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.dsv b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.dsv deleted file mode 100644 index cc83a14..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.dsv +++ /dev/null @@ -1,3 +0,0 @@ -source;share/ros2_control_demo_example_2/environment/ament_prefix_path.sh -source;share/ros2_control_demo_example_2/environment/library_path.sh -source;share/ros2_control_demo_example_2/environment/path.sh diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.sh b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.sh deleted file mode 100644 index 1fc918c..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.sh +++ /dev/null @@ -1,185 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.sh.in - -# since this file is sourced use either the provided AMENT_CURRENT_PREFIX -# or fall back to the destination set at configure time -: ${AMENT_CURRENT_PREFIX:="/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2"} -if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then - if [ -z "$COLCON_CURRENT_PREFIX" ]; then - echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ - "exist. Consider sourcing a different extension than '.sh'." 1>&2 - else - AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" - fi -fi - -# function to append values to environment variables -# using colons as separators and avoiding leading separators -ament_append_value() { - # arguments - _listname="$1" - _value="$2" - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # avoid leading separator - eval _values=\"\$$_listname\" - if [ -z "$_values" ]; then - eval export $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - _ament_append_value_IFS=$IFS - unset IFS - eval export $_listname=\"\$$_listname:$_value\" - #eval echo "append list \$$_listname" - IFS=$_ament_append_value_IFS - unset _ament_append_value_IFS - fi - unset _values - - unset _value - unset _listname -} - -# function to append non-duplicate values to environment variables -# using colons as separators and avoiding leading separators -ament_append_unique_value() { - # arguments - _listname=$1 - _value=$2 - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # check if the list contains the value - eval _values=\$$_listname - _duplicate= - _ament_append_unique_value_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array _values - fi - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - if [ $_item = $_value ]; then - _duplicate=1 - fi - done - unset _item - - # append only non-duplicates - if [ -z "$_duplicate" ]; then - # avoid leading separator - if [ -z "$_values" ]; then - eval $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - unset IFS - eval $_listname=\"\$$_listname:$_value\" - #eval echo "append list \$$_listname" - fi - fi - IFS=$_ament_append_unique_value_IFS - unset _ament_append_unique_value_IFS - unset _duplicate - unset _values - - unset _value - unset _listname -} - -# function to prepend non-duplicate values to environment variables -# using colons as separators and avoiding trailing separators -ament_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # check if the list contains the value - eval _values=\"\$$_listname\" - _duplicate= - _ament_prepend_unique_value_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array _values - fi - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - if [ "$_item" = "$_value" ]; then - _duplicate=1 - fi - done - unset _item - - # prepend only non-duplicates - if [ -z "$_duplicate" ]; then - # avoid trailing separator - if [ -z "$_values" ]; then - eval export $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - unset IFS - eval export $_listname=\"$_value:\$$_listname\" - #eval echo "prepend list \$$_listname" - fi - fi - IFS=$_ament_prepend_unique_value_IFS - unset _ament_prepend_unique_value_IFS - unset _duplicate - unset _values - - unset _value - unset _listname -} - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# list all environment hooks of this package -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh" -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2_control_demo_example_2/environment/library_path.sh" -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2_control_demo_example_2/environment/path.sh" - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS - fi - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - if [ -f "$_hook" ]; then - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - # trace output - if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_hook\"" - fi - . "$_hook" - fi - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -# reset AMENT_CURRENT_PREFIX after each package -# allowing to source multiple package-level setup files -unset AMENT_CURRENT_PREFIX diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.zsh b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.zsh deleted file mode 100644 index fe161be..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/local_setup.zsh +++ /dev/null @@ -1,59 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.zsh.in - -AMENT_SHELL=zsh - -# source local_setup.sh from same directory as this file -_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) -# provide AMENT_CURRENT_PREFIX to shell script -AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) -# store AMENT_CURRENT_PREFIX to restore it before each environment hook -_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX - -# function to convert array-like strings into arrays -# to wordaround SH_WORD_SPLIT not being set -ament_zsh_to_array() { - local _listname=$1 - local _dollar="$" - local _split="{=" - local _to_array="(\"$_dollar$_split$_listname}\")" - eval $_listname=$_to_array -} - -# trace output -if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_this_path/local_setup.sh\"" -fi -# the package-level local_setup file unsets AMENT_CURRENT_PREFIX -. "$_this_path/local_setup.sh" -unset _this_path - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks -AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX -# list all environment hooks of this package - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - # restore AMENT_CURRENT_PREFIX for each environment hook - AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - . "$_hook" - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -unset _package_local_setup_AMENT_CURRENT_PREFIX -unset AMENT_CURRENT_PREFIX diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/package.dsv b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/package.dsv deleted file mode 100644 index f6d36ef..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/package.dsv +++ /dev/null @@ -1,4 +0,0 @@ -source;share/ros2_control_demo_example_2/local_setup.bash -source;share/ros2_control_demo_example_2/local_setup.dsv -source;share/ros2_control_demo_example_2/local_setup.sh -source;share/ros2_control_demo_example_2/local_setup.zsh diff --git a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/path.dsv b/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/path.dsv deleted file mode 100644 index b94426a..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_environment_hooks/path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/ros2_control_demo_example_2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake b/build/ros2_control_demo_example_2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake deleted file mode 100644 index ef20a85..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake +++ /dev/null @@ -1,92 +0,0 @@ -# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in - -set(_exported_dependencies "hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle") - -find_package(ament_cmake_libraries QUIET REQUIRED) - -# find_package() all dependencies -# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS -# variables to ros2_control_demo_example_2_DEFINITIONS, ros2_control_demo_example_2_INCLUDE_DIRS, -# ros2_control_demo_example_2_LIBRARIES, and ros2_control_demo_example_2_LINK_FLAGS. -# Additionally collect the direct dependency names in -# ros2_control_demo_example_2_DEPENDENCIES as well as the recursive dependency names -# in ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES. -if(NOT _exported_dependencies STREQUAL "") - find_package(ament_cmake_core QUIET REQUIRED) - set(ros2_control_demo_example_2_DEPENDENCIES ${_exported_dependencies}) - set(ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES ${_exported_dependencies}) - set(_libraries) - foreach(_dep ${_exported_dependencies}) - if(NOT ${_dep}_FOUND) - find_package("${_dep}" QUIET REQUIRED) - endif() - # if a package provides modern CMake interface targets use them - # exclusively assuming the classic CMake variables only exist for - # backward compatibility - set(use_modern_cmake FALSE) - if(NOT "${${_dep}_TARGETS}" STREQUAL "") - foreach(_target ${${_dep}_TARGETS}) - # only use actual targets - # in case a package uses this variable for other content - if(TARGET "${_target}") - get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES) - if(_include_dirs) - list_append_unique(ros2_control_demo_example_2_INCLUDE_DIRS "${_include_dirs}") - endif() - - get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS) - if(_imported_configurations) - string(TOUPPER "${_imported_configurations}" _imported_configurations) - if(DEBUG_CONFIGURATIONS) - string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase) - else() - set(_debug_configurations_uppercase "DEBUG") - endif() - foreach(_imported_config ${_imported_configurations}) - get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config}) - if(_imported_implib) - set(_imported_implib_config "optimized") - if(${_imported_config} IN_LIST _debug_configurations_uppercase) - set(_imported_implib_config "debug") - endif() - list(APPEND _libraries ${_imported_implib_config} ${_imported_implib}) - else() - get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config}) - if(_imported_location) - list(APPEND _libraries "${_imported_location}") - endif() - endif() - endforeach() - endif() - - get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES) - if(_link_libraries) - list(APPEND _libraries "${_link_libraries}") - endif() - set(use_modern_cmake TRUE) - endif() - endforeach() - endif() - if(NOT use_modern_cmake) - if(${_dep}_DEFINITIONS) - list_append_unique(ros2_control_demo_example_2_DEFINITIONS "${${_dep}_DEFINITIONS}") - endif() - if(${_dep}_INCLUDE_DIRS) - list_append_unique(ros2_control_demo_example_2_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") - endif() - if(${_dep}_LIBRARIES) - list(APPEND _libraries "${${_dep}_LIBRARIES}") - endif() - if(${_dep}_LINK_FLAGS) - list_append_unique(ros2_control_demo_example_2_LINK_FLAGS "${${_dep}_LINK_FLAGS}") - endif() - if(${_dep}_RECURSIVE_DEPENDENCIES) - list_append_unique(ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}") - endif() - endif() - if(_libraries) - ament_libraries_deduplicate(_libraries "${_libraries}") - list(APPEND ros2_control_demo_example_2_LIBRARIES "${_libraries}") - endif() - endforeach() -endif() diff --git a/build/ros2_control_demo_example_2/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake b/build/ros2_control_demo_example_2/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake deleted file mode 100644 index 70e82cd..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake +++ /dev/null @@ -1,27 +0,0 @@ -# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in - -set(_exported_targets "export_ros2_control_demo_example_2") - -# include all exported targets -if(NOT _exported_targets STREQUAL "") - foreach(_target ${_exported_targets}) - set(_export_file "${ros2_control_demo_example_2_DIR}/${_target}Export.cmake") - include("${_export_file}") - - # extract the target names associated with the export - set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)") - file( - STRINGS "${_export_file}" _foreach_targets - REGEX "${_regex}") - list(LENGTH _foreach_targets _matches) - if(NOT _matches EQUAL 1) - message(FATAL_ERROR - "Failed to find exported target names in '${_export_file}'") - endif() - string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}") - string(REPLACE " " ";" _targets "${_targets}") - list(LENGTH _targets _length) - - list(APPEND ros2_control_demo_example_2_TARGETS ${_targets}) - endforeach() -endif() diff --git a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 b/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 deleted file mode 100644 index d79c7c0..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -share/ros2_control_demo_example_2/ros2_control_demo_example_2.xml diff --git a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 b/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 deleted file mode 100644 index 0b6069c..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;ros2_controllers_test_nodes;joint_state_broadcaster;diff_drive_controller;ros2controlcli;controller_manager;rviz2;robot_state_publisher;ament_cmake_gtest \ No newline at end of file diff --git a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/packages/ros2_control_demo_example_2 b/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/packages/ros2_control_demo_example_2 deleted file mode 100644 index e69de29..0000000 diff --git a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 b/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 deleted file mode 100644 index 6350bc1..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/humble \ No newline at end of file diff --git a/build/ros2_control_demo_example_2/ament_cmake_package_templates/templates.cmake b/build/ros2_control_demo_example_2/ament_cmake_package_templates/templates.cmake deleted file mode 100644 index 42a5a03..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_package_templates/templates.cmake +++ /dev/null @@ -1,14 +0,0 @@ -set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh") -set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") -set(ament_cmake_package_templates_PACKAGE_LEVEL "") -list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in") -list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in") -list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in") -set(ament_cmake_package_templates_PREFIX_LEVEL "") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/ros2_control_demo_example_2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/ros2_control_demo_example_2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake deleted file mode 100644 index 960c254..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake +++ /dev/null @@ -1,57 +0,0 @@ -# generated from -# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in - -function(ament_cmake_uninstall_target_remove_empty_directories path) - set(install_space "/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2") - if(install_space STREQUAL "") - message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") - endif() - - string(LENGTH "${install_space}" length) - string(SUBSTRING "${path}" 0 ${length} path_prefix) - if(NOT path_prefix STREQUAL install_space) - message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") - endif() - if(path STREQUAL install_space) - return() - endif() - - # check if directory is empty - file(GLOB files "${path}/*") - list(LENGTH files length) - if(length EQUAL 0) - message(STATUS "Uninstalling: ${path}/") - execute_process(COMMAND "/home/bjorn/.local/lib/python3.10/site-packages/cmake/data/bin/cmake" "-E" "remove_directory" "${path}") - # recursively try to remove parent directories - get_filename_component(parent_path "${path}" PATH) - ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") - endif() -endfunction() - -# uninstall files installed using the standard install() function -set(install_manifest "/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2/install_manifest.txt") -if(NOT EXISTS "${install_manifest}") - message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") -endif() - -file(READ "${install_manifest}" installed_files) -string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") -foreach(installed_file ${installed_files}) - if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") - message(STATUS "Uninstalling: ${installed_file}") - file(REMOVE "${installed_file}") - if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") - message(FATAL_ERROR "Failed to remove '${installed_file}'") - endif() - - # remove empty parent folders - get_filename_component(parent_path "${installed_file}" PATH) - ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") - endif() -endforeach() - -# end of template - -message(STATUS "Execute custom uninstall script") - -# begin of custom uninstall code diff --git a/build/ros2_control_demo_example_2/cmake_args.last b/build/ros2_control_demo_example_2/cmake_args.last deleted file mode 100644 index 4af1832..0000000 --- a/build/ros2_control_demo_example_2/cmake_args.last +++ /dev/null @@ -1 +0,0 @@ -None \ No newline at end of file diff --git a/build/ros2_control_demo_example_2/cmake_install.cmake b/build/ros2_control_demo_example_2/cmake_install.cmake deleted file mode 100644 index b73766a..0000000 --- a/build/ros2_control_demo_example_2/cmake_install.cmake +++ /dev/null @@ -1,203 +0,0 @@ -# Install script for directory: /home/bjorn/Documents/ros-projects/control_ws/src/example_2 - -# Set the install prefix -if(NOT DEFINED CMAKE_INSTALL_PREFIX) - set(CMAKE_INSTALL_PREFIX "/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2") -endif() -string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") - -# Set the install configuration name. -if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) - if(BUILD_TYPE) - string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" - CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") - else() - set(CMAKE_INSTALL_CONFIG_NAME "") - endif() - message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") -endif() - -# Set the component getting installed. -if(NOT CMAKE_INSTALL_COMPONENT) - if(COMPONENT) - message(STATUS "Install component: \"${COMPONENT}\"") - set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") - else() - set(CMAKE_INSTALL_COMPONENT) - endif() -endif() - -# Install shared libraries without execute permission? -if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) - set(CMAKE_INSTALL_SO_NO_EXE "1") -endif() - -# Is this installation the result of a crosscompile? -if(NOT DEFINED CMAKE_CROSSCOMPILING) - set(CMAKE_CROSSCOMPILING "FALSE") -endif() - -# Set default install directory permissions. -if(NOT DEFINED CMAKE_OBJDUMP) - set(CMAKE_OBJDUMP "/usr/bin/objdump") -endif() - -if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros2_control_demo_example_2" TYPE FILE FILES "/home/bjorn/Documents/ros-projects/control_ws/src/example_2/ros2_control_demo_example_2.xml") -endif() - -if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/ros2_control_demo_example_2" TYPE DIRECTORY FILES "/home/bjorn/Documents/ros-projects/control_ws/src/example_2/hardware/include/") -endif() - -if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros2_control_demo_example_2" TYPE DIRECTORY FILES - 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"/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake" - ) -endif() - -if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros2_control_demo_example_2" TYPE FILE FILES "/home/bjorn/Documents/ros-projects/control_ws/src/example_2/package.xml") -endif() - -if(CMAKE_INSTALL_COMPONENT) - set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") -else() - set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") -endif() - -string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT - "${CMAKE_INSTALL_MANIFEST_FILES}") -file(WRITE "/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2/${CMAKE_INSTALL_MANIFEST}" - "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/ros2_control_demo_example_2/colcon_build.rc b/build/ros2_control_demo_example_2/colcon_build.rc deleted file mode 100644 index 573541a..0000000 --- a/build/ros2_control_demo_example_2/colcon_build.rc +++ /dev/null @@ -1 +0,0 @@ -0 diff --git a/build/ros2_control_demo_example_2/colcon_command_prefix_build.sh b/build/ros2_control_demo_example_2/colcon_command_prefix_build.sh deleted file mode 100644 index f9867d5..0000000 --- a/build/ros2_control_demo_example_2/colcon_command_prefix_build.sh +++ /dev/null @@ -1 +0,0 @@ -# generated from colcon_core/shell/template/command_prefix.sh.em diff --git a/build/ros2_control_demo_example_2/colcon_command_prefix_build.sh.env b/build/ros2_control_demo_example_2/colcon_command_prefix_build.sh.env deleted file mode 100644 index b2b641c..0000000 --- a/build/ros2_control_demo_example_2/colcon_command_prefix_build.sh.env +++ /dev/null @@ -1,56 +0,0 @@ -AMENT_PREFIX_PATH=/opt/ros/humble -COLCON=1 -COLORTERM=truecolor -DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1003/bus,guid=28d56257dbbe39af1d502e52645b3973 -DBUS_STARTER_ADDRESS=unix:path=/run/user/1003/bus,guid=28d56257dbbe39af1d502e52645b3973 -DBUS_STARTER_BUS_TYPE=session -DESKTOP_SESSION=ubuntu -DISPLAY=:0 -GDMSESSION=ubuntu -GNOME_DESKTOP_SESSION_ID=this-is-deprecated -GNOME_SETUP_DISPLAY=:1 -GNOME_SHELL_SESSION_MODE=ubuntu -GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/5ad48778_9dc4_4424_a7d9_8aa58327b0f1 -GNOME_TERMINAL_SERVICE=:1.143 -GTK_MODULES=gail:atk-bridge -HOME=/home/bjorn -IM_CONFIG_PHASE=1 -LANG=en_US.UTF-8 -LC_ALL=en_US.UTF-8 -LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib -LESSCLOSE=/usr/bin/lesspipe %s %s -LESSOPEN=| /usr/bin/lesspipe %s -LOGNAME=bjorn -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=/home/bjorn/Documents/ros-projects/control_ws/src -PATH=/opt/ros/humble/bin:/home/bjorn/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin -PWD=/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages -QT_ACCESSIBILITY=1 -QT_IM_MODULE=ibus -ROS_DISTRO=humble -ROS_LOCALHOST_ONLY=0 -ROS_PYTHON_VERSION=3 -ROS_VERSION=2 -SESSION_MANAGER=local/NUC01:@/tmp/.ICE-unix/1940,unix/NUC01:/tmp/.ICE-unix/1940 -SHELL=/bin/bash -SHLVL=1 -SSH_AGENT_LAUNCHER=gnome-keyring -SSH_AUTH_SOCK=/run/user/1003/keyring/ssh -SYSTEMD_EXEC_PID=1940 -TERM=xterm-256color -USER=bjorn -USERNAME=bjorn -VTE_VERSION=6800 -WAYLAND_DISPLAY=wayland-0 -XAUTHORITY=/run/user/1003/.mutter-Xwaylandauth.0VCT41 -XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg -XDG_CURRENT_DESKTOP=ubuntu:GNOME -XDG_DATA_DIRS=/usr/share/ubuntu:/home/bjorn/.local/share/flatpak/exports/share:/var/lib/flatpak/exports/share:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop -XDG_MENU_PREFIX=gnome- -XDG_RUNTIME_DIR=/run/user/1003 -XDG_SESSION_CLASS=user -XDG_SESSION_DESKTOP=ubuntu -XDG_SESSION_TYPE=wayland -XMODIFIERS=@im=ibus -_=/usr/bin/colcon diff --git a/build/ros2_control_demo_example_2/install_manifest.txt b/build/ros2_control_demo_example_2/install_manifest.txt deleted file mode 100644 index 45363d2..0000000 --- a/build/ros2_control_demo_example_2/install_manifest.txt +++ /dev/null @@ -1,35 +0,0 @@ -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control_demo_example_2.xml -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/diffbot_system.hpp -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/visibility_control.h -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control/diffbot.ros2_control.xacro -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2 -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export.cmake -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export-noconfig.cmake -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_targets-extras.cmake -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_dependencies-extras.cmake -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config.cmake -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config-version.cmake -/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml \ No newline at end of file diff --git a/build/ros2_control_demo_example_2/libros2_control_demo_example_2.so b/build/ros2_control_demo_example_2/libros2_control_demo_example_2.so deleted file mode 100755 index 10df4ad..0000000 Binary files a/build/ros2_control_demo_example_2/libros2_control_demo_example_2.so and /dev/null differ diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout deleted file mode 100644 index 3aad533..0000000 --- a/install/.colcon_install_layout +++ /dev/null @@ -1 +0,0 @@ -isolated diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/install/_local_setup_util_ps1.py b/install/_local_setup_util_ps1.py deleted file mode 100644 index 98348ee..0000000 --- a/install/_local_setup_util_ps1.py +++ /dev/null @@ -1,404 +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}"' -FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' -FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' - -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 - 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) diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py deleted file mode 100644 index 35c017b..0000000 --- a/install/_local_setup_util_sh.py +++ /dev/null @@ -1,404 +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 = '${name}' -FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' -FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' -FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' - -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 - 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) diff --git a/install/local_setup.bash b/install/local_setup.bash deleted file mode 100644 index efd5f8c..0000000 --- a/install/local_setup.bash +++ /dev/null @@ -1,107 +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" - # 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_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 "$COLCON_TRACE" ]; then - echo "Execute generated script:" - echo "<<<" - echo "${_colcon_ordered_commands}" - echo ">>>" -fi -eval "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.ps1 b/install/local_setup.ps1 deleted file mode 100644 index 6f68c8d..0000000 --- a/install/local_setup.ps1 +++ /dev/null @@ -1,55 +0,0 @@ -# generated from colcon_powershell/shell/template/prefix.ps1.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# check environment variable for custom Python executable -if ($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) { - $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression -} diff --git a/install/local_setup.sh b/install/local_setup.sh deleted file mode 100644 index 6851b00..0000000 --- a/install/local_setup.sh +++ /dev/null @@ -1,137 +0,0 @@ -# generated from colcon_core/shell/template/prefix.sh.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# since a plain shell script can't determine its own path when being sourced -# either use the provided COLCON_CURRENT_PREFIX -# or fall back to the build time prefix (if it exists) -_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/bjorn/Documents/ros-projects/control_ws/install" -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then - echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 - 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 "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.zsh b/install/local_setup.zsh deleted file mode 100644 index f7a8d90..0000000 --- a/install/local_setup.zsh +++ /dev/null @@ -1,120 +0,0 @@ -# generated from colcon_zsh/shell/template/prefix.zsh.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# a zsh script is able to determine its own path if necessary -if [ -z "$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" - # 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 - continue - fi - # keep non-duplicate values - _all_values="$_all_values:$_item" - done - unset _item - # 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 "$COLCON_TRACE" ]; then - echo "Execute generated script:" - echo "<<<" - echo "${_colcon_ordered_commands}" - echo ">>>" -fi -eval "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/diffbot_system.hpp b/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/diffbot_system.hpp deleted file mode 100644 index 13490e5..0000000 --- a/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/diffbot_system.hpp +++ /dev/null @@ -1,81 +0,0 @@ -// Copyright 2021 ros2_control Development Team -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef ROS2_CONTROL_DEMO_EXAMPLE_2__DIFFBOT_SYSTEM_HPP_ -#define ROS2_CONTROL_DEMO_EXAMPLE_2__DIFFBOT_SYSTEM_HPP_ - -#include -#include -#include - -#include "hardware_interface/handle.hpp" -#include "hardware_interface/hardware_info.hpp" -#include "hardware_interface/system_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "rclcpp/clock.hpp" -#include "rclcpp/duration.hpp" -#include "rclcpp/macros.hpp" -#include "rclcpp/time.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" -#include "rclcpp_lifecycle/state.hpp" - -#include "ros2_control_demo_example_2/visibility_control.h" - -namespace ros2_control_demo_example_2 -{ -class DiffBotSystemHardware : public hardware_interface::SystemInterface -{ -public: - RCLCPP_SHARED_PTR_DEFINITIONS(DiffBotSystemHardware); - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - hardware_interface::CallbackReturn on_init( - const hardware_interface::HardwareInfo & info) override; - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - std::vector export_state_interfaces() override; - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - std::vector export_command_interfaces() override; - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - hardware_interface::CallbackReturn on_activate( - const rclcpp_lifecycle::State & previous_state) override; - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - hardware_interface::CallbackReturn on_deactivate( - const rclcpp_lifecycle::State & previous_state) override; - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - hardware_interface::return_type read( - const rclcpp::Time & time, const rclcpp::Duration & period) override; - - ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC - hardware_interface::return_type write( - const rclcpp::Time & time, const rclcpp::Duration & period) override; - -private: - // Parameters for the DiffBot simulation - double hw_start_sec_; - double hw_stop_sec_; - - // Store the command for the simulated robot - std::vector hw_commands_; - std::vector hw_positions_; - std::vector hw_velocities_; -}; - -} // namespace ros2_control_demo_example_2 - -#endif // ROS2_CONTROL_DEMO_EXAMPLE_2__DIFFBOT_SYSTEM_HPP_ diff --git a/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/visibility_control.h b/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/visibility_control.h deleted file mode 100644 index 568aa90..0000000 --- a/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2/visibility_control.h +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2021 ros2_control Development Team -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* This header must be included by all rclcpp headers which declare symbols - * which are defined in the rclcpp library. When not building the rclcpp - * library, i.e. when using the headers in other package's code, the contents - * of this header change the visibility of certain symbols which the rclcpp - * library cannot have, but the consuming code must have inorder to link. - */ - -#ifndef ROS2_CONTROL_DEMO_EXAMPLE_2__VISIBILITY_CONTROL_H_ -#define ROS2_CONTROL_DEMO_EXAMPLE_2__VISIBILITY_CONTROL_H_ - -// This logic was borrowed (then namespaced) from the examples on the gcc wiki: -// https://gcc.gnu.org/wiki/Visibility - -#if defined _WIN32 || defined __CYGWIN__ -#ifdef __GNUC__ -#define ROS2_CONTROL_DEMO_EXAMPLE_2_EXPORT __attribute__((dllexport)) -#define ROS2_CONTROL_DEMO_EXAMPLE_2_IMPORT __attribute__((dllimport)) -#else -#define ROS2_CONTROL_DEMO_EXAMPLE_2_EXPORT __declspec(dllexport) -#define ROS2_CONTROL_DEMO_EXAMPLE_2_IMPORT __declspec(dllimport) -#endif -#ifdef ROS2_CONTROL_DEMO_EXAMPLE_2_BUILDING_DLL -#define ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC ROS2_CONTROL_DEMO_EXAMPLE_2_EXPORT -#else -#define ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC ROS2_CONTROL_DEMO_EXAMPLE_2_IMPORT -#endif -#define ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC_TYPE ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC -#define ROS2_CONTROL_DEMO_EXAMPLE_2_LOCAL -#else -#define ROS2_CONTROL_DEMO_EXAMPLE_2_EXPORT __attribute__((visibility("default"))) -#define ROS2_CONTROL_DEMO_EXAMPLE_2_IMPORT -#if __GNUC__ >= 4 -#define ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC __attribute__((visibility("default"))) -#define ROS2_CONTROL_DEMO_EXAMPLE_2_LOCAL __attribute__((visibility("hidden"))) -#else -#define ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC -#define ROS2_CONTROL_DEMO_EXAMPLE_2_LOCAL -#endif -#define ROS2_CONTROL_DEMO_EXAMPLE_2_PUBLIC_TYPE -#endif - -#endif // ROS2_CONTROL_DEMO_EXAMPLE_2__VISIBILITY_CONTROL_H_ diff --git a/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so b/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so deleted file mode 100644 index d827ac2..0000000 Binary files a/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so and /dev/null differ diff --git a/install/ros2_control_demo_example_2/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 b/install/ros2_control_demo_example_2/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 deleted file mode 100644 index d79c7c0..0000000 --- a/install/ros2_control_demo_example_2/share/ament_index/resource_index/hardware_interface__pluginlib__plugin/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -share/ros2_control_demo_example_2/ros2_control_demo_example_2.xml diff --git a/install/ros2_control_demo_example_2/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 b/install/ros2_control_demo_example_2/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 deleted file mode 100644 index 0b6069c..0000000 --- a/install/ros2_control_demo_example_2/share/ament_index/resource_index/package_run_dependencies/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;ros2_controllers_test_nodes;joint_state_broadcaster;diff_drive_controller;ros2controlcli;controller_manager;rviz2;robot_state_publisher;ament_cmake_gtest \ No newline at end of file diff --git a/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2 b/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2 deleted file mode 100644 index e69de29..0000000 diff --git a/install/ros2_control_demo_example_2/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 b/install/ros2_control_demo_example_2/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 deleted file mode 100644 index 6350bc1..0000000 --- a/install/ros2_control_demo_example_2/share/ament_index/resource_index/parent_prefix_path/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/humble \ No newline at end of file diff --git a/install/ros2_control_demo_example_2/share/colcon-core/packages/ros2_control_demo_example_2 b/install/ros2_control_demo_example_2/share/colcon-core/packages/ros2_control_demo_example_2 deleted file mode 100644 index 815a6ad..0000000 --- a/install/ros2_control_demo_example_2/share/colcon-core/packages/ros2_control_demo_example_2 +++ /dev/null @@ -1 +0,0 @@ -controller_manager:diff_drive_controller:hardware_interface:joint_state_broadcaster:pluginlib:rclcpp:rclcpp_lifecycle:robot_state_publisher:ros2_controllers_test_nodes:ros2controlcli:rviz2 \ No newline at end of file diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_dependencies-extras.cmake b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_dependencies-extras.cmake deleted file mode 100644 index ef20a85..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_dependencies-extras.cmake +++ /dev/null @@ -1,92 +0,0 @@ -# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in - -set(_exported_dependencies "hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle") - -find_package(ament_cmake_libraries QUIET REQUIRED) - -# find_package() all dependencies -# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS -# variables to ros2_control_demo_example_2_DEFINITIONS, ros2_control_demo_example_2_INCLUDE_DIRS, -# ros2_control_demo_example_2_LIBRARIES, and ros2_control_demo_example_2_LINK_FLAGS. -# Additionally collect the direct dependency names in -# ros2_control_demo_example_2_DEPENDENCIES as well as the recursive dependency names -# in ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES. -if(NOT _exported_dependencies STREQUAL "") - find_package(ament_cmake_core QUIET REQUIRED) - set(ros2_control_demo_example_2_DEPENDENCIES ${_exported_dependencies}) - set(ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES ${_exported_dependencies}) - set(_libraries) - foreach(_dep ${_exported_dependencies}) - if(NOT ${_dep}_FOUND) - find_package("${_dep}" QUIET REQUIRED) - endif() - # if a package provides modern CMake interface targets use them - # exclusively assuming the classic CMake variables only exist for - # backward compatibility - set(use_modern_cmake FALSE) - if(NOT "${${_dep}_TARGETS}" STREQUAL "") - foreach(_target ${${_dep}_TARGETS}) - # only use actual targets - # in case a package uses this variable for other content - if(TARGET "${_target}") - get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES) - if(_include_dirs) - list_append_unique(ros2_control_demo_example_2_INCLUDE_DIRS "${_include_dirs}") - endif() - - get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS) - if(_imported_configurations) - string(TOUPPER "${_imported_configurations}" _imported_configurations) - if(DEBUG_CONFIGURATIONS) - string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase) - else() - set(_debug_configurations_uppercase "DEBUG") - endif() - foreach(_imported_config ${_imported_configurations}) - get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config}) - if(_imported_implib) - set(_imported_implib_config "optimized") - if(${_imported_config} IN_LIST _debug_configurations_uppercase) - set(_imported_implib_config "debug") - endif() - list(APPEND _libraries ${_imported_implib_config} ${_imported_implib}) - else() - get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config}) - if(_imported_location) - list(APPEND _libraries "${_imported_location}") - endif() - endif() - endforeach() - endif() - - get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES) - if(_link_libraries) - list(APPEND _libraries "${_link_libraries}") - endif() - set(use_modern_cmake TRUE) - endif() - endforeach() - endif() - if(NOT use_modern_cmake) - if(${_dep}_DEFINITIONS) - list_append_unique(ros2_control_demo_example_2_DEFINITIONS "${${_dep}_DEFINITIONS}") - endif() - if(${_dep}_INCLUDE_DIRS) - list_append_unique(ros2_control_demo_example_2_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}") - endif() - if(${_dep}_LIBRARIES) - list(APPEND _libraries "${${_dep}_LIBRARIES}") - endif() - if(${_dep}_LINK_FLAGS) - list_append_unique(ros2_control_demo_example_2_LINK_FLAGS "${${_dep}_LINK_FLAGS}") - endif() - if(${_dep}_RECURSIVE_DEPENDENCIES) - list_append_unique(ros2_control_demo_example_2_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}") - endif() - endif() - if(_libraries) - ament_libraries_deduplicate(_libraries "${_libraries}") - list(APPEND ros2_control_demo_example_2_LIBRARIES "${_libraries}") - endif() - endforeach() -endif() diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_targets-extras.cmake b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_targets-extras.cmake deleted file mode 100644 index 70e82cd..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ament_cmake_export_targets-extras.cmake +++ /dev/null @@ -1,27 +0,0 @@ -# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in - -set(_exported_targets "export_ros2_control_demo_example_2") - -# include all exported targets -if(NOT _exported_targets STREQUAL "") - foreach(_target ${_exported_targets}) - set(_export_file "${ros2_control_demo_example_2_DIR}/${_target}Export.cmake") - include("${_export_file}") - - # extract the target names associated with the export - set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)") - file( - STRINGS "${_export_file}" _foreach_targets - REGEX "${_regex}") - list(LENGTH _foreach_targets _matches) - if(NOT _matches EQUAL 1) - message(FATAL_ERROR - "Failed to find exported target names in '${_export_file}'") - endif() - string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}") - string(REPLACE " " ";" _targets "${_targets}") - list(LENGTH _targets _length) - - list(APPEND ros2_control_demo_example_2_TARGETS ${_targets}) - endforeach() -endif() diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export-noconfig.cmake b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export-noconfig.cmake deleted file mode 100644 index 0b347e9..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export-noconfig.cmake +++ /dev/null @@ -1,19 +0,0 @@ -#---------------------------------------------------------------- -# Generated CMake target import file. -#---------------------------------------------------------------- - -# Commands may need to know the format version. -set(CMAKE_IMPORT_FILE_VERSION 1) - -# Import target "ros2_control_demo_example_2::ros2_control_demo_example_2" for configuration "" -set_property(TARGET ros2_control_demo_example_2::ros2_control_demo_example_2 APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG) -set_target_properties(ros2_control_demo_example_2::ros2_control_demo_example_2 PROPERTIES - IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libros2_control_demo_example_2.so" - IMPORTED_SONAME_NOCONFIG "libros2_control_demo_example_2.so" - ) - -list(APPEND _cmake_import_check_targets ros2_control_demo_example_2::ros2_control_demo_example_2 ) -list(APPEND _cmake_import_check_files_for_ros2_control_demo_example_2::ros2_control_demo_example_2 "${_IMPORT_PREFIX}/lib/libros2_control_demo_example_2.so" ) - -# Commands beyond this point should not need to know the version. -set(CMAKE_IMPORT_FILE_VERSION) diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export.cmake b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export.cmake deleted file mode 100644 index 1d9bc0a..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/export_ros2_control_demo_example_2Export.cmake +++ /dev/null @@ -1,108 +0,0 @@ -# Generated by CMake - -if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8) - message(FATAL_ERROR "CMake >= 2.8.0 required") -endif() -if(CMAKE_VERSION VERSION_LESS "2.8.3") - message(FATAL_ERROR "CMake >= 2.8.3 required") -endif() -cmake_policy(PUSH) -cmake_policy(VERSION 2.8.3...3.24) -#---------------------------------------------------------------- -# Generated CMake target import file. -#---------------------------------------------------------------- - -# Commands may need to know the format version. -set(CMAKE_IMPORT_FILE_VERSION 1) - -# Protect against multiple inclusion, which would fail when already imported targets are added once more. -set(_cmake_targets_defined "") -set(_cmake_targets_not_defined "") -set(_cmake_expected_targets "") -foreach(_cmake_expected_target IN ITEMS ros2_control_demo_example_2::ros2_control_demo_example_2) - list(APPEND _cmake_expected_targets "${_cmake_expected_target}") - if(TARGET "${_cmake_expected_target}") - list(APPEND _cmake_targets_defined "${_cmake_expected_target}") - else() - list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}") - endif() -endforeach() -unset(_cmake_expected_target) -if(_cmake_targets_defined STREQUAL _cmake_expected_targets) - unset(_cmake_targets_defined) - unset(_cmake_targets_not_defined) - unset(_cmake_expected_targets) - unset(CMAKE_IMPORT_FILE_VERSION) - cmake_policy(POP) - return() -endif() -if(NOT _cmake_targets_defined STREQUAL "") - string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}") - string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}") - message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n") -endif() -unset(_cmake_targets_defined) -unset(_cmake_targets_not_defined) -unset(_cmake_expected_targets) - - -# Compute the installation prefix relative to this file. -get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) -get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) -get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) 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-) - -if(CMAKE_VERSION VERSION_LESS 2.8.12) - message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.") -endif() - -# Load information for each installed configuration. -file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/export_ros2_control_demo_example_2Export-*.cmake") -foreach(_cmake_config_file IN LISTS _cmake_config_files) - include("${_cmake_config_file}") -endforeach() -unset(_cmake_config_file) -unset(_cmake_config_files) - -# Cleanup temporary variables. -set(_IMPORT_PREFIX) - -# Loop over all imported files and verify that they actually exist -foreach(_cmake_target IN LISTS _cmake_import_check_targets) - foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}") - if(NOT EXISTS "${_cmake_file}") - message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file - \"${_cmake_file}\" -but this file does not exist. Possible reasons include: -* The file was deleted, renamed, or moved to another location. -* An install or uninstall procedure did not complete successfully. -* The installation package was faulty and contained - \"${CMAKE_CURRENT_LIST_FILE}\" -but not all the files it references. -") - endif() - endforeach() - unset(_cmake_file) - unset("_cmake_import_check_files_for_${_cmake_target}") -endforeach() -unset(_cmake_target) -unset(_cmake_import_check_targets) - -# This file does not depend on other imported targets which have -# been exported from the same project but in a separate export set. - -# Commands beyond this point should not need to know the version. -set(CMAKE_IMPORT_FILE_VERSION) -cmake_policy(POP) diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config-version.cmake b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config-version.cmake deleted file mode 100644 index 7beb732..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config.cmake b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config.cmake deleted file mode 100644 index 26a50ec..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/cmake/ros2_control_demo_example_2Config.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig.cmake.in - -# prevent multiple inclusion -if(_ros2_control_demo_example_2_CONFIG_INCLUDED) - # ensure to keep the found flag the same - if(NOT DEFINED ros2_control_demo_example_2_FOUND) - # explicitly set it to FALSE, otherwise CMake will set it to TRUE - set(ros2_control_demo_example_2_FOUND FALSE) - elseif(NOT ros2_control_demo_example_2_FOUND) - # use separate condition to avoid uninitialized variable warning - set(ros2_control_demo_example_2_FOUND FALSE) - endif() - return() -endif() -set(_ros2_control_demo_example_2_CONFIG_INCLUDED TRUE) - -# output package information -if(NOT ros2_control_demo_example_2_FIND_QUIETLY) - message(STATUS "Found ros2_control_demo_example_2: 0.0.0 (${ros2_control_demo_example_2_DIR})") -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "Package 'ros2_control_demo_example_2' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - # optionally quiet the deprecation message - if(NOT ${ros2_control_demo_example_2_DEPRECATED_QUIET}) - message(DEPRECATION "${_msg}") - endif() -endif() - -# flag package as ament-based to distinguish it after being find_package()-ed -set(ros2_control_demo_example_2_FOUND_AMENT_PACKAGE TRUE) - -# include all config extra files -set(_extras "ament_cmake_export_targets-extras.cmake;ament_cmake_export_dependencies-extras.cmake") -foreach(_extra ${_extras}) - include("${ros2_control_demo_example_2_DIR}/${_extra}") -endforeach() diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml deleted file mode 100644 index d45de1b..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml +++ /dev/null @@ -1,57 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 10 # Hz - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - - diffbot_base_controller: - type: diff_drive_controller/DiffDriveController - -diffbot_base_controller: - ros__parameters: - left_wheel_names: ["left_wheel_joint"] - right_wheel_names: ["right_wheel_joint"] - - wheel_separation: 0.10 - #wheels_per_side: 1 # actually 2, but both are controlled by 1 signal - wheel_radius: 0.015 - - wheel_separation_multiplier: 1.0 - left_wheel_radius_multiplier: 1.0 - right_wheel_radius_multiplier: 1.0 - - publish_rate: 50.0 - odom_frame_id: odom - base_frame_id: base_link - pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] - twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] - - open_loop: true - enable_odom_tf: true - - cmd_vel_timeout: 0.5 - #publish_limited_velocity: true - use_stamped_vel: false - #velocity_rolling_window_size: 10 - - # Velocity and acceleration limits - # Whenever a min_* is unspecified, default to -max_* - linear.x.has_velocity_limits: true - linear.x.has_acceleration_limits: true - linear.x.has_jerk_limits: false - linear.x.max_velocity: 1.0 - linear.x.min_velocity: -1.0 - linear.x.max_acceleration: 1.0 - linear.x.max_jerk: 0.0 - linear.x.min_jerk: 0.0 - - angular.z.has_velocity_limits: true - angular.z.has_acceleration_limits: true - angular.z.has_jerk_limits: false - angular.z.max_velocity: 1.0 - angular.z.min_velocity: -1.0 - angular.z.max_acceleration: 1.0 - angular.z.min_acceleration: -1.0 - angular.z.max_jerk: 0.0 - angular.z.min_jerk: 0.0 diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv deleted file mode 100644 index 79d4c95..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh deleted file mode 100644 index 02e441b..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh +++ /dev/null @@ -1,4 +0,0 @@ -# copied from -# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh - -ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv deleted file mode 100644 index 89bec93..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;LD_LIBRARY_PATH;lib diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh deleted file mode 100644 index 292e518..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh +++ /dev/null @@ -1,16 +0,0 @@ -# copied from ament_package/template/environment_hook/library_path.sh - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -if [ $_IS_DARWIN -eq 0 ]; then - ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib" -else - ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib" -fi -unset _IS_DARWIN diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv deleted file mode 100644 index b94426a..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate-if-exists;PATH;bin diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh deleted file mode 100644 index e59b749..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh +++ /dev/null @@ -1,5 +0,0 @@ -# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh - -if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then - ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" -fi diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.dsv deleted file mode 100644 index e119f32..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;CMAKE_PREFIX_PATH; diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1 b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1 deleted file mode 100644 index d03facc..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1 +++ /dev/null @@ -1,3 +0,0 @@ -# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em - -colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX" diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.sh deleted file mode 100644 index a948e68..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.sh +++ /dev/null @@ -1,3 +0,0 @@ -# generated from colcon_core/shell/template/hook_prepend_value.sh.em - -_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX" diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.dsv deleted file mode 100644 index 89bec93..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;LD_LIBRARY_PATH;lib diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1 b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1 deleted file mode 100644 index f6df601..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1 +++ /dev/null @@ -1,3 +0,0 @@ -# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em - -colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib" diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh deleted file mode 100644 index ca3c102..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh +++ /dev/null @@ -1,3 +0,0 @@ -# generated from colcon_core/shell/template/hook_prepend_value.sh.em - -_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib" diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/__pycache__/diffbot.launch.cpython-310.pyc b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/__pycache__/diffbot.launch.cpython-310.pyc deleted file mode 100644 index 8468b5c..0000000 Binary files a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/__pycache__/diffbot.launch.cpython-310.pyc and /dev/null differ diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py deleted file mode 100644 index 1275217..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py +++ /dev/null @@ -1,107 +0,0 @@ -# Copyright 2020 ros2_control Development Team -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from launch import LaunchDescription -from launch.actions import RegisterEventHandler -from launch.event_handlers import OnProcessExit -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_2"), "urdf", "diffbot.urdf.xacro"] - ), - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare("ros2_control_demo_example_2"), - "config", - "diffbot_controllers.yaml", - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_2"), "rviz", "diffbot.rviz"] - ) - - control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[robot_description, robot_controllers], - output="both", - ) - robot_state_pub_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - remappings=[ - ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"), - ], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - ) - - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], - ) - - robot_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["diffbot_base_controller", "--controller-manager", "/controller_manager"], - ) - - # Delay rviz start after `joint_state_broadcaster` - delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[rviz_node], - ) - ) - - # Delay start of robot_controller after `joint_state_broadcaster` - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[robot_controller_spawner], - ) - ) - - nodes = [ - control_node, - robot_state_pub_node, - joint_state_broadcaster_spawner, - delay_rviz_after_joint_state_broadcaster_spawner, - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, - ] - - return LaunchDescription(nodes) diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py deleted file mode 100644 index badd807..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py +++ /dev/null @@ -1,99 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="ros2_control_demo_example_2", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - default_value="diffbot.urdf.xacro", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - - # Initialize Arguments - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - ] - ) - robot_description = {"robot_description": robot_description_content} - - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "diffbot_view.rviz"] - ) - - joint_state_publisher_node = Node( - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", - ) - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - ) - - nodes = [ - joint_state_publisher_node, - robot_state_publisher_node, - rviz_node, - ] - - return LaunchDescription(declared_arguments + nodes) diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash deleted file mode 100644 index 49782f2..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash +++ /dev/null @@ -1,46 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.bash.in - -# source local_setup.sh from same directory as this file -_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) -# provide AMENT_CURRENT_PREFIX to shell script -AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) -# store AMENT_CURRENT_PREFIX to restore it before each environment hook -_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX - -# trace output -if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_this_path/local_setup.sh\"" -fi -. "$_this_path/local_setup.sh" -unset _this_path - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks -AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX -# list all environment hooks of this package - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - # restore AMENT_CURRENT_PREFIX for each environment hook - AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - . "$_hook" - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -unset _package_local_setup_AMENT_CURRENT_PREFIX -unset AMENT_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv deleted file mode 100644 index cc83a14..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv +++ /dev/null @@ -1,3 +0,0 @@ -source;share/ros2_control_demo_example_2/environment/ament_prefix_path.sh -source;share/ros2_control_demo_example_2/environment/library_path.sh -source;share/ros2_control_demo_example_2/environment/path.sh diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh deleted file mode 100644 index 1fc918c..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh +++ /dev/null @@ -1,185 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.sh.in - -# since this file is sourced use either the provided AMENT_CURRENT_PREFIX -# or fall back to the destination set at configure time -: ${AMENT_CURRENT_PREFIX:="/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2"} -if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then - if [ -z "$COLCON_CURRENT_PREFIX" ]; then - echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ - "exist. Consider sourcing a different extension than '.sh'." 1>&2 - else - AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" - fi -fi - -# function to append values to environment variables -# using colons as separators and avoiding leading separators -ament_append_value() { - # arguments - _listname="$1" - _value="$2" - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # avoid leading separator - eval _values=\"\$$_listname\" - if [ -z "$_values" ]; then - eval export $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - _ament_append_value_IFS=$IFS - unset IFS - eval export $_listname=\"\$$_listname:$_value\" - #eval echo "append list \$$_listname" - IFS=$_ament_append_value_IFS - unset _ament_append_value_IFS - fi - unset _values - - unset _value - unset _listname -} - -# function to append non-duplicate values to environment variables -# using colons as separators and avoiding leading separators -ament_append_unique_value() { - # arguments - _listname=$1 - _value=$2 - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # check if the list contains the value - eval _values=\$$_listname - _duplicate= - _ament_append_unique_value_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array _values - fi - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - if [ $_item = $_value ]; then - _duplicate=1 - fi - done - unset _item - - # append only non-duplicates - if [ -z "$_duplicate" ]; then - # avoid leading separator - if [ -z "$_values" ]; then - eval $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - unset IFS - eval $_listname=\"\$$_listname:$_value\" - #eval echo "append list \$$_listname" - fi - fi - IFS=$_ament_append_unique_value_IFS - unset _ament_append_unique_value_IFS - unset _duplicate - unset _values - - unset _value - unset _listname -} - -# function to prepend non-duplicate values to environment variables -# using colons as separators and avoiding trailing separators -ament_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # check if the list contains the value - eval _values=\"\$$_listname\" - _duplicate= - _ament_prepend_unique_value_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array _values - fi - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - if [ "$_item" = "$_value" ]; then - _duplicate=1 - fi - done - unset _item - - # prepend only non-duplicates - if [ -z "$_duplicate" ]; then - # avoid trailing separator - if [ -z "$_values" ]; then - eval export $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - unset IFS - eval export $_listname=\"$_value:\$$_listname\" - #eval echo "prepend list \$$_listname" - fi - fi - IFS=$_ament_prepend_unique_value_IFS - unset _ament_prepend_unique_value_IFS - unset _duplicate - unset _values - - unset _value - unset _listname -} - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# list all environment hooks of this package -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh" -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2_control_demo_example_2/environment/library_path.sh" -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros2_control_demo_example_2/environment/path.sh" - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS - fi - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - if [ -f "$_hook" ]; then - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - # trace output - if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_hook\"" - fi - . "$_hook" - fi - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -# reset AMENT_CURRENT_PREFIX after each package -# allowing to source multiple package-level setup files -unset AMENT_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh deleted file mode 100644 index fe161be..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh +++ /dev/null @@ -1,59 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.zsh.in - -AMENT_SHELL=zsh - -# source local_setup.sh from same directory as this file -_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) -# provide AMENT_CURRENT_PREFIX to shell script -AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) -# store AMENT_CURRENT_PREFIX to restore it before each environment hook -_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX - -# function to convert array-like strings into arrays -# to wordaround SH_WORD_SPLIT not being set -ament_zsh_to_array() { - local _listname=$1 - local _dollar="$" - local _split="{=" - local _to_array="(\"$_dollar$_split$_listname}\")" - eval $_listname=$_to_array -} - -# trace output -if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_this_path/local_setup.sh\"" -fi -# the package-level local_setup file unsets AMENT_CURRENT_PREFIX -. "$_this_path/local_setup.sh" -unset _this_path - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks -AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX -# list all environment hooks of this package - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - # restore AMENT_CURRENT_PREFIX for each environment hook - AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - . "$_hook" - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -unset _package_local_setup_AMENT_CURRENT_PREFIX -unset AMENT_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.bash b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.bash deleted file mode 100644 index 532de48..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.bash +++ /dev/null @@ -1,39 +0,0 @@ -# generated from colcon_bash/shell/template/package.bash.em - -# This script extends the environment for this package. - -# a bash script is able to determine its own path if necessary -if [ -z "$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/ros2_control_demo_example_2/package.sh" - -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts -COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX" - -# source bash hooks -_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/ros2_control_demo_example_2/local_setup.bash" - -unset COLCON_CURRENT_PREFIX - -unset _colcon_package_bash_source_script -unset _colcon_package_bash_COLCON_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv deleted file mode 100644 index 4bc9b15..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv +++ /dev/null @@ -1,12 +0,0 @@ -source;share/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1 -source;share/ros2_control_demo_example_2/hook/cmake_prefix_path.dsv -source;share/ros2_control_demo_example_2/hook/cmake_prefix_path.sh -source;share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1 -source;share/ros2_control_demo_example_2/hook/ld_library_path_lib.dsv -source;share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh -source;share/ros2_control_demo_example_2/local_setup.bash -source;share/ros2_control_demo_example_2/local_setup.dsv -source;share/ros2_control_demo_example_2/local_setup.ps1 -source;share/ros2_control_demo_example_2/local_setup.sh -source;share/ros2_control_demo_example_2/local_setup.spawn_bash_shell -source;share/ros2_control_demo_example_2/local_setup.zsh diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.ps1 b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.ps1 deleted file mode 100644 index f1bf7c7..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.ps1 +++ /dev/null @@ -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/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1" -colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1" -colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/ros2_control_demo_example_2/local_setup.ps1" - -Remove-Item Env:\COLCON_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.sh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.sh deleted file mode 100644 index a10ad6b..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.sh +++ /dev/null @@ -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="/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2" -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/ros2_control_demo_example_2/hook/cmake_prefix_path.sh" -_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh" -_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/ros2_control_demo_example_2/local_setup.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 diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml deleted file mode 100644 index b98693d..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - - ros2_control_demo_example_2 - 0.0.0 - Demo package of `ros2_control` hardware for DiffBot. - - Dr.-Ing. Denis Štogl - Bence Magyar - Christoph Froehlich - - Dr.-Ing. Denis Štogl - - Apache-2.0 - - ament_cmake - - hardware_interface - pluginlib - rclcpp - rclcpp_lifecycle - - ros2_controllers_test_nodes - joint_state_broadcaster - diff_drive_controller - ros2controlcli - controller_manager - rviz2 - robot_state_publisher - - ament_cmake_gtest - - - ament_cmake - - diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.zsh b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.zsh deleted file mode 100644 index 540d705..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.zsh +++ /dev/null @@ -1,50 +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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/ros2_control_demo_example_2/package.sh" -unset convert_zsh_to_array - -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts -COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX" - -# source zsh hooks -_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/ros2_control_demo_example_2/local_setup.zsh" - -unset COLCON_CURRENT_PREFIX - -unset _colcon_package_zsh_source_script -unset _colcon_package_zsh_COLCON_CURRENT_PREFIX diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control/diffbot.ros2_control.xacro b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control/diffbot.ros2_control.xacro deleted file mode 100644 index e1f184d..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control/diffbot.ros2_control.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - ros2_control_demo_example_2/DiffBotSystemHardware - 0 - 3.0 - - - - - - - - - - - - - - - - diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control_demo_example_2.xml b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control_demo_example_2.xml deleted file mode 100644 index c72bbab..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control_demo_example_2.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - The ros2_control DiffBot example using a system hardware interface-type. It uses velocity command and position state interface. The example is the starting point to implement a hardware interface for differential-drive mobile robots. - - - diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz deleted file mode 100644 index 365d572..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz +++ /dev/null @@ -1,172 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 1112 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_frontal_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_rear_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.359799385070801 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.05434183403849602 - Y: 0.6973574757575989 - Z: -0.00023954140488058329 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.48539823293685913 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.0053997039794921875 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1383 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004fcfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004fc000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004fc000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004fc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 28 diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz deleted file mode 100644 index d887a81..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz +++ /dev/null @@ -1,172 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 1112 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_frontal_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_rear_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.359799385070801 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.05434183403849602 - Y: 0.6973574757575989 - Z: -0.00023954140488058329 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.48539823293685913 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.0053997039794921875 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1383 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004fcfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004fc000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004fc000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004fc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 28 diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro deleted file mode 100644 index 035bf58..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro deleted file mode 100644 index a2858e1..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro deleted file mode 100644 index 03aa349..0000000 --- a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro +++ /dev/null @@ -1,184 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/install/setup.bash b/install/setup.bash deleted file mode 100644 index 4c55244..0000000 --- a/install/setup.bash +++ /dev/null @@ -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 diff --git a/install/setup.ps1 b/install/setup.ps1 deleted file mode 100644 index 558e9b9..0000000 --- a/install/setup.ps1 +++ /dev/null @@ -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" diff --git a/install/setup.sh b/install/setup.sh deleted file mode 100644 index dceadd9..0000000 --- a/install/setup.sh +++ /dev/null @@ -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=/home/bjorn/Documents/ros-projects/control_ws/install -if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then - _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then - echo "The build time path \"$_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 diff --git a/install/setup.zsh b/install/setup.zsh deleted file mode 100644 index 990d171..0000000 --- a/install/setup.zsh +++ /dev/null @@ -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 "$COLCON_CURRENT_PREFIX/local_setup.zsh" - -unset COLCON_CURRENT_PREFIX -unset _colcon_prefix_chain_zsh_source_script diff --git a/install/spawn_shell.bash b/install/spawn_shell.bash deleted file mode 100644 index a78b0f4..0000000 --- a/install/spawn_shell.bash +++ /dev/null @@ -1,82 +0,0 @@ -#!/bin/bash -# Copyright 2018 Shane Loretz -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -if [ "${COLCON_SPAWN_SHELL_GET_WORKSPACE_INFO}" = "workspace_name" ] ; -then - # script is being sourced to get info and should not spawn a shell - COLCON_SPAWN_SHELL_WORKSPACE_NAME='control_ws' - unset COLCON_SPAWN_SHELL_GET_WORKSPACE_INFO - return -fi - -# Get absolute path to install root ( directory this script is in) -_CCSSB_dir=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -# Append workspace to list of workspaces (for chaining workspaces) -_CCSSB_workspaces=$COLCON_SPAWN_SHELL_BASH:$_CCSSB_dir - -# Need to source user's rcfiles first because --rcfile causes them to be ignored -if [ -f /etc/bash.bashrc ] -then - _CCSSB_rcfile="$_CCSSB_rcfile . /etc/bash.bashrc ;" -fi -if [ -f ~/.bashrc ] -then - _CCSSB_rcfile="$_CCSSB_rcfile . ~/.bashrc ;" -fi - -# Build a prompt prefix showing the order workspaces have been chained -_CCSSB_ps1_prefix="" - -# Make code to source all colcon workspaces -while read -d ':' _CCSSB_ws_dir; do - if [ -z "$_CCSSB_ws_dir" ] - then - # No text before first ':' so ignore it - continue - fi - # make sure shell sources the workspace on startup - _CCSSB_rcfile="$_CCSSB_rcfile . $_CCSSB_ws_dir/local_setup.bash ;" - - # Source the workspace here to get the workspace name - COLCON_SPAWN_SHELL_GET_WORKSPACE_INFO=workspace_name - . $_CCSSB_ws_dir/spawn_shell.bash - unset COLCON_SPAWN_SHELL_GET_WORKSPACE_INFO - - if [ -z "$_CCSSB_ps1_prefix" ] - then - # First workspace is separated from PS1 by "|" - _CCSSB_ps1_prefix="${COLCON_SPAWN_SHELL_WORKSPACE_NAME}|" - else - # Chained workspaces are separated with "<-" - _CCSSB_ps1_prefix="${COLCON_SPAWN_SHELL_WORKSPACE_NAME}<-$_CCSSB_ps1_prefix" - fi - unset COLCON_SPAWN_SHELL_WORKSPACE_NAME -done <<< "$_CCSSB_workspaces:" - -# Support chaining by setting a variable with the list of spawned workspaces -_CCSSB_rcfile="$_CCSSB_rcfile COLCON_SPAWN_SHELL_BASH=\"$_CCSSB_workspaces\" ;" - -# Set prompt to indicate sourced workspaces -_CCSSB_rcfile="$_CCSSB_rcfile export PS1=\"$_CCSSB_ps1_prefix\$PS1\" ;" - -# Spawn a child shell using custom startup commands -$SHELL --rcfile <(echo "$_CCSSB_rcfile") - -# Cleanup the variables used -unset _CCSSB_workspaces -unset _CCSSB_rcfile -unset _CCSSB_ps1_prefix -unset _CCSSB_ws_dir -unset _CCSSB_dir diff --git a/src/example_2/CMakeLists.txt b/src/example_2/CMakeLists.txt index ae79510..ce979f9 100644 --- a/src/example_2/CMakeLists.txt +++ b/src/example_2/CMakeLists.txt @@ -36,6 +36,9 @@ ament_target_dependencies( ${THIS_PACKAGE_INCLUDE_DEPENDS} ) +# Adding our new dependies: link to serial library +target_link_libraries(ros2_control_demo_example_2 PUBLIC serial) + # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_2_BUILDING_DLL") diff --git a/src/example_2/hardware/diffbot_system.cpp b/src/example_2/hardware/diffbot_system.cpp index 0ca5409..0073930 100644 --- a/src/example_2/hardware/diffbot_system.cpp +++ b/src/example_2/hardware/diffbot_system.cpp @@ -36,13 +36,16 @@ hardware_interface::CallbackReturn DiffBotSystemHardware::on_init( return hardware_interface::CallbackReturn::ERROR; } - // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code - hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]); - hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]); - // END: This part here is for exemplary purposes - Please do not copy to your production code - hw_positions_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_velocities_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_commands_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); + cfg_.left_wheel_name = info_.hardware_parameters["string left_wheel_name"]; + cfg_.right_wheel_name = info_.hardware_parameters["string right_wheel_name"]; + cfg_.loop_rate = std::stof(info_.hardware_parameters["loop_rate"]); + cfg_.device = info_.hardware_parameters["string device"]; + cfg_.baud_rate = std::stoi(info_.hardware_parameters["baud_rate"]); + cfg_.timeout_ms = std::stoi(info_.hardware_parameters["timeout_ms"]); + cfg_.enc_counts_per_rev = std::stoi(info_.hardware_parameters["enc_counts_per_rev"]); + + wheel_l_.setup(cfg_.left_wheel_name, cfg_.enc_counts_per_rev); + wheel_r_.setup(cfg_.right_wheel_name, cfg_.enc_counts_per_rev); for (const hardware_interface::ComponentInfo & joint : info_.joints) { @@ -99,13 +102,16 @@ hardware_interface::CallbackReturn DiffBotSystemHardware::on_init( std::vector DiffBotSystemHardware::export_state_interfaces() // so ros2_control knows what hardware interfaces are accessible { std::vector state_interfaces; - for (auto i = 0u; i < info_.joints.size(); i++) // for all joints. Each joint gets linked to their interfaces and the corresponding values in the state array - { - state_interfaces.emplace_back(hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_positions_[i])); - state_interfaces.emplace_back(hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_velocities_[i])); - } + + state_interfaces.emplace_back(hardware_interface::StateInterface( + wheel_l_.name, hardware_interface::HW_IF_POSITION, &wheel_l_.pos)); + state_interfaces.emplace_back(hardware_interface::StateInterface( + wheel_l_.name, hardware_interface::HW_IF_VELOCITY, &wheel_l_.vel)); + + state_interfaces.emplace_back(hardware_interface::StateInterface( + wheel_r_.name, hardware_interface::HW_IF_POSITION, &wheel_r_.pos)); + state_interfaces.emplace_back(hardware_interface::StateInterface( + wheel_r_.name, hardware_interface::HW_IF_VELOCITY, &wheel_r_.vel)); return state_interfaces; } @@ -113,11 +119,12 @@ std::vector DiffBotSystemHardware::export_st std::vector DiffBotSystemHardware::export_command_interfaces() // so ros2_control knows what hardware interfaces are accessible { std::vector command_interfaces; - for (auto i = 0u; i < info_.joints.size(); i++) // for all joints. Each joint gets linked to their cmd interfaces and the corresponding values in the cmd array - { - command_interfaces.emplace_back(hardware_interface::CommandInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i])); - } + + command_interfaces.emplace_back(hardware_interface::CommandInterface( + wheel_l_.name, hardware_interface::HW_IF_VELOCITY, &wheel_l_.cmd)); + + command_interfaces.emplace_back(hardware_interface::CommandInterface( + wheel_r_.name, hardware_interface::HW_IF_VELOCITY, &wheel_r_.cmd)); return command_interfaces; } @@ -125,28 +132,8 @@ std::vector DiffBotSystemHardware::export_ hardware_interface::CallbackReturn DiffBotSystemHardware::on_activate( const rclcpp_lifecycle::State & /*previous_state*/) { - // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Activating ...please wait..."); - - for (auto i = 0; i < hw_start_sec_; i++) - { - rclcpp::sleep_for(std::chrono::seconds(1)); - RCLCPP_INFO( - rclcpp::get_logger("DiffBotSystemHardware"), "%.1f seconds left...", hw_start_sec_ - i); - } - // END: This part here is for exemplary purposes - Please do not copy to your production code - - // set some default values - for (auto i = 0u; i < hw_positions_.size(); i++) - { - if (std::isnan(hw_positions_[i])) - { - hw_positions_[i] = 0; - hw_velocities_[i] = 0; - hw_commands_[i] = 0; - } - } - + comms_.connect(cfg_.device, cfg_.baud_rate, cfg_.timeout_ms); // my functions RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Successfully activated!"); return hardware_interface::CallbackReturn::SUCCESS; @@ -155,16 +142,9 @@ hardware_interface::CallbackReturn DiffBotSystemHardware::on_activate( hardware_interface::CallbackReturn DiffBotSystemHardware::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Deactivating ...please wait..."); - for (auto i = 0; i < hw_stop_sec_; i++) - { - rclcpp::sleep_for(std::chrono::seconds(1)); - RCLCPP_INFO( - rclcpp::get_logger("DiffBotSystemHardware"), "%.1f seconds left...", hw_stop_sec_ - i); - } - // END: This part here is for exemplary purposes - Please do not copy to your production code + comms_.disconnect(); // my functions RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Successfully deactivated!"); @@ -174,20 +154,17 @@ hardware_interface::CallbackReturn DiffBotSystemHardware::on_deactivate( hardware_interface::return_type DiffBotSystemHardware::read( const rclcpp::Time & /*time*/, const rclcpp::Duration & period) { - // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code - for (std::size_t i = 0; i < hw_velocities_.size(); i++) - { - // Simulate DiffBot wheels's movement as a first-order system - // Update the joint status: this is a revolute joint without any limit. - // Simply integrates - hw_positions_[i] = hw_positions_[1] + period.seconds() * hw_velocities_[i]; + comms_.read_encoder_values(wheel_l_.enc, wheel_r_.enc); - RCLCPP_INFO( - rclcpp::get_logger("DiffBotSystemHardware"), - "Got position state %.5f and velocity state %.5f for '%s'!", hw_positions_[i], - hw_velocities_[i], info_.joints[i].name.c_str()); - } - // END: This part here is for exemplary purposes - Please do not copy to your production code + double delta_seconds = period.seconds(); + + double pos_prev_l = wheel_l_.pos; + wheel_l_.pos = wheel_l_.calc_enc_angle(); + wheel_l_.vel = (wheel_l_.pos - pos_prev_l) / delta_seconds; + + double pos_prev_r = wheel_r_.pos; + wheel_r_.pos = wheel_r_.calc_enc_angle(); + wheel_r_.vel = (wheel_r_.pos - pos_prev_r) / delta_seconds; return hardware_interface::return_type::OK; } @@ -195,20 +172,9 @@ hardware_interface::return_type DiffBotSystemHardware::read( hardware_interface::return_type ros2_control_demo_example_2 ::DiffBotSystemHardware::write( const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) { - // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code - RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Writing..."); - - for (auto i = 0u; i < hw_commands_.size(); i++) - { - // Simulate sending commands to the hardware - RCLCPP_INFO( - rclcpp::get_logger("DiffBotSystemHardware"), "Got command %.5f for '%s'!", hw_commands_[i], - info_.joints[i].name.c_str()); - - hw_velocities_[i] = hw_commands_[i]; - } - RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Joints successfully written!"); - // END: This part here is for exemplary purposes - Please do not copy to your production code + int motor_l_counts_per_loop = wheel_l_.cmd / wheel_l_.rads_per_count / cfg_.loop_rate; + int motor_r_counts_per_loop = wheel_r_.cmd / wheel_r_.rads_per_count / cfg_.loop_rate; + comms_.set_motor_values(motor_l_counts_per_loop, motor_r_counts_per_loop); return hardware_interface::return_type::OK; } diff --git a/src/example_2/hardware/include/ros2_control_demo_example_2/diffbot_system.hpp b/src/example_2/hardware/include/ros2_control_demo_example_2/diffbot_system.hpp index 8c31d08..6f47f30 100644 --- a/src/example_2/hardware/include/ros2_control_demo_example_2/diffbot_system.hpp +++ b/src/example_2/hardware/include/ros2_control_demo_example_2/diffbot_system.hpp @@ -32,10 +32,26 @@ #include "ros2_control_demo_example_2/visibility_control.h" +#include "ros2_control_demo_example_2/odrive_comms.hpp" +#include "ros2_control_demo_example_2/wheel.hpp" + namespace ros2_control_demo_example_2 { class DiffBotSystemHardware : public hardware_interface::SystemInterface { + +struct Config +{ + std::string left_wheel_name = ""; + std::string right_wheel_name = ""; + float loop_rate = 0.0; + std::string device = ""; + int baud_rate = 0; + int timeout_ms = 0; + int enc_counts_per_rev = 0; +}; + + public: RCLCPP_SHARED_PTR_DEFINITIONS(DiffBotSystemHardware); @@ -66,14 +82,11 @@ public: const rclcpp::Time & time, const rclcpp::Duration & period) override; private: - // Parameters for the DiffBot simulation - double hw_start_sec_; - double hw_stop_sec_; - - // Store the command for the simulated robot - std::vector hw_commands_; // for cmd_vel - std::vector hw_positions_; // for position feedback - std::vector hw_velocities_; // for velocity feedback + + OdriveComms comms_; // from odrive_comms.hpp + Config cfg_; + Wheel wheel_l_; + wheel wheel_r_; }; } // namespace ros2_control_demo_example_2 diff --git a/src/example_2/hardware/include/ros2_control_demo_example_2/odrive_comms.hpp b/src/example_2/hardware/include/ros2_control_demo_example_2/odrive_comms.hpp new file mode 100644 index 0000000..9b7a2b5 --- /dev/null +++ b/src/example_2/hardware/include/ros2_control_demo_example_2/odrive_comms.hpp @@ -0,0 +1 @@ +// maybe fill this with odrive specific stuff \ No newline at end of file diff --git a/src/example_2/hardware/include/ros2_control_demo_example_2/wheel.hpp b/src/example_2/hardware/include/ros2_control_demo_example_2/wheel.hpp new file mode 100644 index 0000000..13e8b9e --- /dev/null +++ b/src/example_2/hardware/include/ros2_control_demo_example_2/wheel.hpp @@ -0,0 +1,2 @@ +// https://youtu.be/J02jEKawE5U?t=1709 +// should contain parameters related to specific wheel \ No newline at end of file diff --git a/src/example_2/package.xml b/src/example_2/package.xml index b98693d..383bbd2 100644 --- a/src/example_2/package.xml +++ b/src/example_2/package.xml @@ -20,6 +20,9 @@ rclcpp rclcpp_lifecycle + + libserial-dev + ros2_controllers_test_nodes joint_state_broadcaster diff_drive_controller