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z-^Pl6uV7xTUpzf8_YPP5ONdAH%LMWN1>*l(i9d<`^86iJ8CCU%ac|=F&tX2g`co_K z$@*VIJc_@Fm-R1?F#ci0qxu(v_@hAl4=C}+((6jz zA-{ho<9|nqKbiT^I#+%%`Vd53=9YKRw^V^T&H#&pTZ6 zCxLiW{~*V2&z}Y${#)2D=TB~g^?#OmdHq<#yzBWxt`dJX$DhFqFioXh5GM-X;*pV!!OS(7!{svx%=Mhf^!Q%lPo#f{@B>B6$A&(UZ$ottJ^U;CC11vT*8I?Cnp?>qA|9<@ z4%e@2lHt7dYYFP-, Bence Magyar , Christoph Froehlich ") -set(ros2_control_demo_example_2_BUILD_DEPENDS "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle") -set(ros2_control_demo_example_2_BUILDTOOL_DEPENDS "ament_cmake") -set(ros2_control_demo_example_2_BUILD_EXPORT_DEPENDS "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle") -set(ros2_control_demo_example_2_BUILDTOOL_EXPORT_DEPENDS ) -set(ros2_control_demo_example_2_EXEC_DEPENDS "ros2_controllers_test_nodes" "joint_state_broadcaster" "diff_drive_controller" "ros2controlcli" "controller_manager" "rviz2" "robot_state_publisher" "hardware_interface" "pluginlib" "rclcpp" "rclcpp_lifecycle") -set(ros2_control_demo_example_2_TEST_DEPENDS "ament_cmake_gtest") -set(ros2_control_demo_example_2_GROUP_DEPENDS ) -set(ros2_control_demo_example_2_MEMBER_OF_GROUPS ) -set(ros2_control_demo_example_2_DEPRECATED "") -set(ros2_control_demo_example_2_EXPORT_TAGS) -list(APPEND ros2_control_demo_example_2_EXPORT_TAGS "ament_cmake") diff --git a/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake b/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake deleted file mode 100644 index 7beb732..0000000 --- a/build/ros2_control_demo_example_2/ament_cmake_core/ros2_control_demo_example_2Config-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${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) - 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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 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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 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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 "$COLCON_CURRENT_PREFIX/lib" diff --git a/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/__pycache__/diffbot.launch.cpython-310.pyc b/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/__pycache__/diffbot.launch.cpython-310.pyc deleted file mode 100644 index 8468b5c2bbf9af2bf24a3d909f899d632cecb88e..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2023 zcma)7OLHSN5FTlse&(^xCQI02;e-!~AzUe-Y7>g0sE{HzL)FxHB#$S|t0YY}aoMME z;DG-GH+~IwT{-awIAmEuOEZogwiXzd+S1ppR;#9^#)u3`M97V8g& z#b+@1cOZyCP-3KLh>)7&1gGZE)N?bjQhR9Yxs^DnJ9JZT=%tNeLt}Q*Ok2a2o;yi9 z?F>6GcZv6dG3=7YxzTU_4ks9WB)7f_$}F55Qy#Lo5OJOX*!zY?F&C7bT+&Q@5o9Ex z4Dim^*%`}2%K6DvEc&K&pXX@`YT5lf&dA9X4NDP>5-NLVftY-m$Ju!~;vyDh?b$lb z2?bA^%Kj_}zYijMJ_#5NRXoe54HFl}a~S*&5W)~hV1fu>9IXWY1f|owaTdRO#udw6B7Y<&ZHe3sQQEp2>Zd^CLgZGr{u2Cp67{dKIKaLj5CY zm5hw1+aw;3N4Yput3&NUZm}E?u)i;~bim0tj;4FH`O+yAn;%{WX(BCl8BeF}r8~8f z+x5|4MgOp&32$|*kdL3l-LC!n~bJG zQN&rqrL8V=B+Vp`rucw7*wI>UlZ}8yWeOzV(&a_)B7=xbxqAVfE&M9f5z7M-28u4X zy@P{Qb`I+7+&&ttz-7w%=30bL;XLJbS%*=;*Kf+6sd(O1Mp$+PghYiOgo;wq%`+%J zkP+BP6+A~M1woF0T#>VSzUw6O_e`o z1s&v%W8i$dR{OgCy?>OmLK}LQHhAX^N%ZSH%e~6O>d<@52ZScUwXb~zV@SOJU%rm( z9hw8Ld-VUG7h46+e=*pHkd)h>29rFcgV9CKvcYj4R(&!6DjXCnzo4Pu%fkCF_#jqo znj}j9Ci)JzdKLbwMWSEVnh}cN)$*{omirNf=2YCNuyv*@2Jjz2VBEzRVbn(W4!^SQ zyavXOM$`(sZ3NO%7LFQ!f)f5QvJl4j&UuL&)mrIctI7_rSJhK}9j|&{ZdXP= yO!xHBel=_IL%3!&`%JoIDE&AcDD^F?V&b?fAepOCvP|a 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/log/COLCON_IGNORE b/log/COLCON_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/log/build_2023-05-10_08-55-51/events.log b/log/build_2023-05-10_08-55-51/events.log deleted file mode 100644 index 16756e2..0000000 --- a/log/build_2023-05-10_08-55-51/events.log +++ /dev/null @@ -1,195 +0,0 @@ -[0.000000] (-) TimerEvent: {} -[0.000228] (ros2_control_demo_example_2) JobQueued: {'identifier': 'ros2_control_demo_example_2', 'dependencies': OrderedDict()} -[0.000905] (ros2_control_demo_example_2) JobStarted: {'identifier': 'ros2_control_demo_example_2'} -[0.032386] (ros2_control_demo_example_2) JobProgress: {'identifier': 'ros2_control_demo_example_2', 'progress': 'cmake'} -[0.032651] (ros2_control_demo_example_2) Command: {'cmd': ['/home/bjorn/.local/bin/cmake', '/home/bjorn/Documents/ros-projects/control_ws/src/example_2', '-DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2'], 'cwd': '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'bjorn'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('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'), ('HOME', '/home/bjorn'), ('OLDPWD', '/home/bjorn/Documents/ros-projects/control_ws/src'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '1940'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1003/bus,guid=28d56257dbbe39af1d502e52645b3973'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'bjorn'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'bjorn'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('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'), ('SESSION_MANAGER', 'local/NUC01:@/tmp/.ICE-unix/1940,unix/NUC01:/tmp/.ICE-unix/1940'), ('XDG_MENU_PREFIX', 'gnome-'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/5ad48778_9dc4_4424_a7d9_8aa58327b0f1'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1003'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1003/.mutter-Xwaylandauth.0VCT41'), ('LS_COLORS', 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('GNOME_TERMINAL_SERVICE', ':1.143'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1003/keyring/ssh'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('SHELL', '/bin/bash'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('DBUS_STARTER_ADDRESS', 'unix:path=/run/user/1003/bus,guid=28d56257dbbe39af1d502e52645b3973'), ('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'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False} -[0.099464] (-) TimerEvent: {} -[0.199869] (-) TimerEvent: {} -[0.221794] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 11.3.0\n'} -[0.242544] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'} -[0.300124] (-) TimerEvent: {} -[0.343623] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'} -[0.363682] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'} -[0.364394] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Detecting CXX compile features\n'} -[0.365403] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'} -[0.371784] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)\n'} -[0.400233] (-) TimerEvent: {} -[0.500622] (-) TimerEvent: {} -[0.601010] (-) TimerEvent: {} -[0.681564] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter \n'} -[0.701121] (-) TimerEvent: {} -[0.801506] (-) TimerEvent: {} -[0.871298] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found hardware_interface: 2.24.1 (/opt/ros/humble/share/hardware_interface/cmake)\n'} -[0.901668] (-) TimerEvent: {} -[0.972641] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'} -[0.985680] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'} -[1.001803] (-) TimerEvent: {} -[1.012531] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'} -[1.051612] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'} -[1.102019] (-) TimerEvent: {} -[1.113522] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'} -[1.202144] (-) TimerEvent: {} -[1.302728] (-) TimerEvent: {} -[1.403314] (-) TimerEvent: {} -[1.503996] (-) TimerEvent: {} -[1.604505] (-) TimerEvent: {} -[1.705286] (-) TimerEvent: {} -[1.805687] (-) TimerEvent: {} -[1.906151] (-) TimerEvent: {} -[2.006539] (-) TimerEvent: {} -[2.106969] (-) TimerEvent: {} -[2.207463] (-) TimerEvent: {} -[2.307889] (-) TimerEvent: {} -[2.408337] (-) TimerEvent: {} -[2.508722] (-) TimerEvent: {} -[2.609153] (-) TimerEvent: {} -[2.709668] (-) TimerEvent: {} -[2.755720] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'} -[2.761603] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'} -[2.809803] (-) TimerEvent: {} -[2.910176] (-) TimerEvent: {} -[2.957167] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") \n'} -[3.010338] (-) TimerEvent: {} -[3.023325] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/humble/include \n'} -[3.110455] (-) TimerEvent: {} -[3.126327] (ros2_control_demo_example_2) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"} -[3.156783] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'} -[3.210580] (-) TimerEvent: {} -[3.302890] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success\n'} -[3.306159] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found Threads: TRUE \n'} -[3.311305] (-) TimerEvent: {} -[3.411930] (-) TimerEvent: {} -[3.512326] (-) TimerEvent: {} -[3.612840] (-) TimerEvent: {} -[3.713284] (-) TimerEvent: {} -[3.813832] (-) TimerEvent: {} -[3.836048] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Found ament_cmake_gtest: 1.3.3 (/opt/ros/humble/share/ament_cmake_gtest/cmake)\n'} -[3.914776] (-) TimerEvent: {} -[3.991127] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Configuring done (3.9s)\n'} -[4.014898] (-) TimerEvent: {} -[4.060355] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Generating done (0.1s)\n'} -[4.068078] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Build files have been written to: /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2\n'} -[4.095641] (ros2_control_demo_example_2) CommandEnded: {'returncode': 0} -[4.096636] (ros2_control_demo_example_2) JobProgress: {'identifier': 'ros2_control_demo_example_2', 'progress': 'build'} -[4.099054] (ros2_control_demo_example_2) Command: {'cmd': ['/home/bjorn/.local/bin/cmake', '--build', '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2', '--', '-j4', '-l4'], 'cwd': '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'bjorn'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('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'), ('HOME', '/home/bjorn'), ('OLDPWD', '/home/bjorn/Documents/ros-projects/control_ws/src'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '1940'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1003/bus,guid=28d56257dbbe39af1d502e52645b3973'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 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-[10.040940] (-) TimerEvent: {} -[10.110285] (ros2_control_demo_example_2) StdoutLine: {'line': b'[100%] \x1b[32m\x1b[1mLinking CXX shared library libros2_control_demo_example_2.so\x1b[0m\n'} -[10.141100] (-) TimerEvent: {} -[10.241473] (-) TimerEvent: {} -[10.341946] (-) TimerEvent: {} -[10.374956] (ros2_control_demo_example_2) StdoutLine: {'line': b'[100%] Built target ros2_control_demo_example_2\n'} -[10.385452] (ros2_control_demo_example_2) CommandEnded: {'returncode': 0} -[10.442066] (-) TimerEvent: {} -[10.442948] (ros2_control_demo_example_2) JobProgress: {'identifier': 'ros2_control_demo_example_2', 'progress': 'install'} -[10.496184] (ros2_control_demo_example_2) Command: {'cmd': ['/home/bjorn/.local/bin/cmake', '--install', '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2'], 'cwd': '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'bjorn'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('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'), ('HOME', '/home/bjorn'), ('OLDPWD', '/home/bjorn/Documents/ros-projects/control_ws/src'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('DBUS_STARTER_BUS_TYPE', 'session'), ('SYSTEMD_EXEC_PID', '1940'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1003/bus,guid=28d56257dbbe39af1d502e52645b3973'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'bjorn'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'bjorn'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('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'), ('SESSION_MANAGER', 'local/NUC01:@/tmp/.ICE-unix/1940,unix/NUC01:/tmp/.ICE-unix/1940'), ('XDG_MENU_PREFIX', 'gnome-'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/5ad48778_9dc4_4424_a7d9_8aa58327b0f1'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1003'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1003/.mutter-Xwaylandauth.0VCT41'), ('LS_COLORS', 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{} -[10.550224] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Install configuration: ""\n'} -[10.550828] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.551221] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2\n'} -[10.551665] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2\n'} -[10.552000] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.552434] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.552673] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch\n'} -[10.553204] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py\n'} -[10.553830] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control\n'} -[10.554082] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.554288] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf\n'} -[10.554539] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro\n'} -[10.554932] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro\n'} -[10.555166] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro\n'} -[10.555326] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz\n'} -[10.555581] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz\n'} -[10.555767] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz\n'} -[10.555908] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Up-to-date: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch\n'} -[10.556054] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py\n'} -[10.556195] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config\n'} -[10.556319] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml\n'} -[10.556470] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so\n'} -[10.557461] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Set runtime path of "/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so" to ""\n'} -[10.557794] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh\n'} -[10.558045] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv\n'} -[10.558279] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.558498] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.558773] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh\n'} -[10.558985] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: 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/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh\n'} -[10.559927] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh\n'} -[10.560112] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv\n'} -[10.560290] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv\n'} -[10.560585] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2\n'} -[10.560836] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.561087] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.561329] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.561552] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.561820] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.562045] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.562224] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /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\n'} -[10.562419] (ros2_control_demo_example_2) StdoutLine: {'line': b'-- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml\n'} -[10.578614] (ros2_control_demo_example_2) CommandEnded: {'returncode': 0} -[10.642316] (-) TimerEvent: {} -[10.743610] (-) TimerEvent: {} -[10.768259] (ros2_control_demo_example_2) JobEnded: {'identifier': 'ros2_control_demo_example_2', 'rc': 0} -[10.769614] (-) EventReactorShutdown: {} diff --git a/log/build_2023-05-10_08-55-51/logger_all.log b/log/build_2023-05-10_08-55-51/logger_all.log deleted file mode 100644 index b8954cd..0000000 --- a/log/build_2023-05-10_08-55-51/logger_all.log +++ /dev/null @@ -1,151 +0,0 @@ -[0.974s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] -[0.975s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=, verb_extension=, main=>) -[1.039s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters -[1.039s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters -[1.039s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters -[1.040s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters -[1.040s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover -[1.040s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover -[1.040s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/bjorn/Documents/ros-projects/control_ws' -[1.040s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] -[1.040s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' -[1.040s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' -[1.041s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] -[1.041s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' -[1.041s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] -[1.041s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' -[1.041s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] -[1.041s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python'] -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake' -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python' -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py'] -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py' -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install'] -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore' -[1.069s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored -[1.070s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install'] -[1.070s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore' -[1.070s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored -[1.070s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install'] -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore' -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install'] -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore' -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install' -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg'] -[1.071s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg' -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta'] -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta' -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros'] -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros' -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python'] -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake' -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python' -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py'] -[1.072s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py' -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extensions ['ignore', 'ignore_ament_install'] -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extension 'ignore' -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extension 'ignore_ament_install' -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extensions ['colcon_pkg'] -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extension 'colcon_pkg' -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extensions ['colcon_meta'] -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extension 'colcon_meta' -[1.073s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extensions ['ros'] -[1.074s] Level 1:colcon.colcon_core.package_identification:_identify(src/example_2) by extension 'ros' -[1.080s] DEBUG:colcon.colcon_core.package_identification:Package 'src/example_2' with type 'ros.ament_cmake' and name 'ros2_control_demo_example_2' -[1.080s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults -[1.080s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover -[1.080s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults -[1.080s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover -[1.080s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults -[1.130s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters -[1.130s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover -[1.140s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 424 installed packages in /opt/ros/humble -[1.144s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults -[1.274s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'cmake_args' from command line to 'None' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'cmake_target' from command line to 'None' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'cmake_target_skip_unavailable' from command line to 'False' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'cmake_clean_cache' from command line to 'False' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'cmake_clean_first' from command line to 'False' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'cmake_force_configure' from command line to 'False' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'ament_cmake_args' from command line to 'None' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'catkin_cmake_args' from command line to 'None' -[1.275s] Level 5:colcon.colcon_core.verb:set package 'ros2_control_demo_example_2' build argument 'catkin_skip_building_tests' from command line to 'False' -[1.275s] DEBUG:colcon.colcon_core.verb:Building package 'ros2_control_demo_example_2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2', 'merge_install': False, 'path': '/home/bjorn/Documents/ros-projects/control_ws/src/example_2', 'symlink_install': False, 'test_result_base': None} -[1.276s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor -[1.282s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete -[1.282s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/bjorn/Documents/ros-projects/control_ws/src/example_2' with build type 'ament_cmake' -[1.283s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/bjorn/Documents/ros-projects/control_ws/src/example_2' -[1.304s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems -[1.305s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell -[1.305s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment -[1.315s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake /home/bjorn/Documents/ros-projects/control_ws/src/example_2 -DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2 -[5.378s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake /home/bjorn/Documents/ros-projects/control_ws/src/example_2 -DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2 -[5.382s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --build /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -- -j4 -l4 -[11.668s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --build /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -- -j4 -l4 -[11.780s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --install /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -[11.859s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(ros2_control_demo_example_2) -[11.861s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --install /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -[11.880s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2' for CMake module files -[11.882s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2' for CMake config files -[11.882s] Level 1:colcon.colcon_core.shell:create_environment_hook('ros2_control_demo_example_2', 'cmake_prefix_path') -[11.888s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1' -[11.890s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.dsv' -[11.891s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.sh' -[11.893s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib' -[11.893s] Level 1:colcon.colcon_core.shell:create_environment_hook('ros2_control_demo_example_2', 'ld_library_path_lib') -[11.899s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1' -[11.900s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.dsv' -[11.901s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh' -[11.902s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/bin' -[11.902s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/pkgconfig/ros2_control_demo_example_2.pc' -[11.902s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/python3.10/site-packages' -[11.903s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/bin' -[11.907s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.ps1' -[11.909s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv' -[11.910s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.sh' -[11.912s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.bash' -[11.914s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.zsh' -[11.917s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/colcon-core/packages/ros2_control_demo_example_2) -[12.005s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(ros2_control_demo_example_2) -[12.013s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2' for CMake module files -[12.015s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2' for CMake config files -[12.016s] Level 1:colcon.colcon_core.shell:create_environment_hook('ros2_control_demo_example_2', 'cmake_prefix_path') -[12.021s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.ps1' -[12.023s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.dsv' -[12.024s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/cmake_prefix_path.sh' -[12.026s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib' -[12.027s] Level 1:colcon.colcon_core.shell:create_environment_hook('ros2_control_demo_example_2', 'ld_library_path_lib') -[12.032s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.ps1' -[12.034s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.dsv' -[12.035s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/hook/ld_library_path_lib.sh' -[12.036s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/bin' -[12.036s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/pkgconfig/ros2_control_demo_example_2.pc' -[12.036s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/python3.10/site-packages' -[12.037s] Level 1:colcon.colcon_core.environment:checking '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/bin' -[12.041s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.ps1' -[12.042s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv' -[12.046s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.sh' -[12.047s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.bash' -[12.048s] INFO:colcon.colcon_core.shell:Creating package script '/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.zsh' -[12.049s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/colcon-core/packages/ros2_control_demo_example_2) -[12.050s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop -[12.051s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed -[12.051s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' -[12.051s] DEBUG:colcon.colcon_core.event_reactor:joining thread -[12.076s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems -[12.076s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems -[12.076s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' -[12.129s] DEBUG:colcon.colcon_core.event_reactor:joined thread -[12.135s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/bjorn/Documents/ros-projects/control_ws/install/local_setup.ps1' -[12.142s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/bjorn/Documents/ros-projects/control_ws/install/_local_setup_util_ps1.py' -[12.147s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/bjorn/Documents/ros-projects/control_ws/install/setup.ps1' -[12.151s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/bjorn/Documents/ros-projects/control_ws/install/local_setup.sh' -[12.153s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/bjorn/Documents/ros-projects/control_ws/install/_local_setup_util_sh.py' -[12.154s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/bjorn/Documents/ros-projects/control_ws/install/setup.sh' -[12.158s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/bjorn/Documents/ros-projects/control_ws/install/local_setup.bash' -[12.160s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/bjorn/Documents/ros-projects/control_ws/install/setup.bash' -[12.165s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/bjorn/Documents/ros-projects/control_ws/install/local_setup.zsh' -[12.167s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/bjorn/Documents/ros-projects/control_ws/install/setup.zsh' -[12.171s] INFO:colcon.colcon_core.shell:Creating '/home/bjorn/Documents/ros-projects/control_ws/install/spawn_shell.bash' diff --git a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/command.log b/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/command.log deleted file mode 100644 index 464ff0f..0000000 --- a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/command.log +++ /dev/null @@ -1,6 +0,0 @@ -Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake /home/bjorn/Documents/ros-projects/control_ws/src/example_2 -DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2 -Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake /home/bjorn/Documents/ros-projects/control_ws/src/example_2 -DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2 -Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --build /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -- -j4 -l4 -Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --build /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -- -j4 -l4 -Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --install /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --install /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 diff --git a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stderr.log b/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stderr.log deleted file mode 100644 index e69de29..0000000 diff --git a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stdout.log b/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stdout.log deleted file mode 100644 index fc5a096..0000000 --- a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stdout.log +++ /dev/null @@ -1,74 +0,0 @@ --- The CXX compiler identification is GNU 11.3.0 --- Detecting CXX compiler ABI info --- Detecting CXX compiler ABI info - done --- Check for working CXX compiler: /usr/bin/c++ - skipped --- Detecting CXX compile features --- Detecting CXX compile features - done --- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake) --- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter --- Found hardware_interface: 2.24.1 (/opt/ros/humble/share/hardware_interface/cmake) --- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake) --- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake) --- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) --- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c --- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp --- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) --- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) --- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") --- Found FastRTPS: /opt/ros/humble/include --- Using RMW implementation 'rmw_fastrtps_cpp' as default --- Performing Test CMAKE_HAVE_LIBC_PTHREAD --- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success --- Found Threads: TRUE --- Found ament_cmake_gtest: 1.3.3 (/opt/ros/humble/share/ament_cmake_gtest/cmake) --- Configuring done (3.9s) --- Generating done (0.1s) --- Build files have been written to: /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -[ 50%] Building CXX object CMakeFiles/ros2_control_demo_example_2.dir/hardware/diffbot_system.cpp.o -[100%] Linking CXX shared library libros2_control_demo_example_2.so -[100%] Built target ros2_control_demo_example_2 --- Install configuration: "" --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2 --- Installing: /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 --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz --- Up-to-date: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so --- Set runtime path of "/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so" to "" --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv --- Installing: /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 --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml diff --git a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stdout_stderr.log b/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stdout_stderr.log deleted file mode 100644 index fc5a096..0000000 --- a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/stdout_stderr.log +++ /dev/null @@ -1,74 +0,0 @@ --- The CXX compiler identification is GNU 11.3.0 --- Detecting CXX compiler ABI info --- Detecting CXX compiler ABI info - done --- Check for working CXX compiler: /usr/bin/c++ - skipped --- Detecting CXX compile features --- Detecting CXX compile features - done --- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake) --- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter --- Found hardware_interface: 2.24.1 (/opt/ros/humble/share/hardware_interface/cmake) --- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake) --- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake) --- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) --- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c --- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp --- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) --- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) --- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") --- Found FastRTPS: /opt/ros/humble/include --- Using RMW implementation 'rmw_fastrtps_cpp' as default --- Performing Test CMAKE_HAVE_LIBC_PTHREAD --- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success --- Found Threads: TRUE --- Found ament_cmake_gtest: 1.3.3 (/opt/ros/humble/share/ament_cmake_gtest/cmake) --- Configuring done (3.9s) --- Generating done (0.1s) --- Build files have been written to: /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -[ 50%] Building CXX object CMakeFiles/ros2_control_demo_example_2.dir/hardware/diffbot_system.cpp.o -[100%] Linking CXX shared library libros2_control_demo_example_2.so -[100%] Built target ros2_control_demo_example_2 --- Install configuration: "" --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2 --- Installing: /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 --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz --- Up-to-date: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so --- Set runtime path of "/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so" to "" --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv --- Installing: /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 --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /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 --- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml diff --git a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/streams.log b/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/streams.log deleted file mode 100644 index 02245d7..0000000 --- a/log/build_2023-05-10_08-55-51/ros2_control_demo_example_2/streams.log +++ /dev/null @@ -1,80 +0,0 @@ -[0.032s] Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake /home/bjorn/Documents/ros-projects/control_ws/src/example_2 -DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2 -[0.221s] -- The CXX compiler identification is GNU 11.3.0 -[0.241s] -- Detecting CXX compiler ABI info -[0.342s] -- Detecting CXX compiler ABI info - done -[0.362s] -- Check for working CXX compiler: /usr/bin/c++ - skipped -[0.363s] -- Detecting CXX compile features -[0.364s] -- Detecting CXX compile features - done -[0.370s] -- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake) -[0.680s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter -[0.870s] -- Found hardware_interface: 2.24.1 (/opt/ros/humble/share/hardware_interface/cmake) -[0.971s] -- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake) -[0.984s] -- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake) -[1.011s] -- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) -[1.050s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c -[1.112s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp -[2.754s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) -[2.760s] -- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) -[2.956s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") -[3.022s] -- Found FastRTPS: /opt/ros/humble/include -[3.125s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default -[3.156s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD -[3.302s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success -[3.305s] -- Found Threads: TRUE -[3.835s] -- Found ament_cmake_gtest: 1.3.3 (/opt/ros/humble/share/ament_cmake_gtest/cmake) -[3.990s] -- Configuring done (3.9s) -[4.059s] -- Generating done (0.1s) -[4.067s] -- Build files have been written to: /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -[4.095s] Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake /home/bjorn/Documents/ros-projects/control_ws/src/example_2 -DCMAKE_INSTALL_PREFIX=/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2 -[4.098s] Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --build /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -- -j4 -l4 -[4.196s] [ 50%] Building CXX object CMakeFiles/ros2_control_demo_example_2.dir/hardware/diffbot_system.cpp.o -[10.109s] [100%] Linking CXX shared library libros2_control_demo_example_2.so -[10.374s] [100%] Built target ros2_control_demo_example_2 -[10.384s] Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --build /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -- -j4 -l4 -[10.497s] Invoking command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --install /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 -[10.549s] -- Install configuration: "" -[10.550s] -- Installing: /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 -[10.550s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2 -[10.550s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/include/ros2_control_demo_example_2/ros2_control_demo_example_2 -[10.551s] -- Installing: /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 -[10.551s] -- Installing: /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 -[10.551s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch -[10.552s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/view_robot.launch.py -[10.553s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/ros2_control -[10.553s] -- Installing: /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 -[10.553s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf -[10.553s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.materials.xacro -[10.554s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot_description.urdf.xacro -[10.554s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/urdf/diffbot.urdf.xacro -[10.554s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz -[10.554s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot.rviz -[10.554s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/rviz/diffbot_view.rviz -[10.555s] -- Up-to-date: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch -[10.555s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/launch/diffbot.launch.py -[10.555s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config -[10.555s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/config/diffbot_controllers.yaml -[10.555s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so -[10.556s] -- Set runtime path of "/home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/lib/libros2_control_demo_example_2.so" to "" -[10.556s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.sh -[10.557s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/library_path.dsv -[10.557s] -- Installing: /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 -[10.557s] -- Installing: /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 -[10.557s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.sh -[10.558s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/ament_prefix_path.dsv -[10.558s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.sh -[10.558s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/environment/path.dsv -[10.558s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.bash -[10.558s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.sh -[10.559s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.zsh -[10.559s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/local_setup.dsv -[10.559s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.dsv -[10.559s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ament_index/resource_index/packages/ros2_control_demo_example_2 -[10.559s] -- Installing: /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 -[10.560s] -- Installing: /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 -[10.560s] -- Installing: /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 -[10.560s] -- Installing: /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 -[10.560s] -- Installing: /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 -[10.561s] -- Installing: /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 -[10.561s] -- Installing: /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 -[10.561s] -- Installing: /home/bjorn/Documents/ros-projects/control_ws/install/ros2_control_demo_example_2/share/ros2_control_demo_example_2/package.xml -[10.577s] Invoked command in '/home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /home/bjorn/.local/bin/cmake --install /home/bjorn/Documents/ros-projects/control_ws/build/ros2_control_demo_example_2 diff --git a/log/latest b/log/latest deleted file mode 120000 index 1715667..0000000 --- a/log/latest +++ /dev/null @@ -1 +0,0 @@ -latest_list \ No newline at end of file diff --git a/log/latest_build b/log/latest_build deleted file mode 120000 index acc52e8..0000000 --- a/log/latest_build +++ /dev/null @@ -1 +0,0 @@ -build_2023-05-10_08-55-51 \ No newline at end of file diff --git a/log/latest_list b/log/latest_list deleted file mode 120000 index f73c229..0000000 --- a/log/latest_list +++ /dev/null @@ -1 +0,0 @@ -list_2023-05-10_08-58-30 \ No newline at end of file diff --git a/log/list_2023-05-10_08-58-30/logger_all.log b/log/list_2023-05-10_08-58-30/logger_all.log deleted file mode 100644 index 4527af8..0000000 --- a/log/list_2023-05-10_08-58-30/logger_all.log +++ /dev/null @@ -1,56 +0,0 @@ -[1.555s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'list', '-p', '--base-paths', '/home/bjorn/Documents/ros-projects/control_ws'] -[1.555s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='list', build_base='build', ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['/home/bjorn/Documents/ros-projects/control_ws'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], topological_order=False, names_only=False, paths_only=True, topological_graph=False, topological_graph_dot=False, topological_graph_density=False, topological_graph_legend=False, topological_graph_dot_cluster=False, topological_graph_dot_include_skipped=False, verb_parser=, verb_extension=, main=>) -[1.640s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters -[1.640s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters -[1.640s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters -[1.640s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters -[1.640s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover -[1.640s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/bjorn/Documents/ros-projects/control_ws' -[1.640s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extensions ['ignore', 'ignore_ament_install'] -[1.640s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'ignore' -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'ignore_ament_install' -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extensions ['colcon_pkg'] -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'colcon_pkg' -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extensions ['colcon_meta'] -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'colcon_meta' -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extensions ['ros'] -[1.641s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'ros' -[1.692s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extensions ['cmake', 'python'] -[1.692s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'cmake' -[1.693s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'python' -[1.693s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extensions ['python_setup_py'] -[1.693s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws) by extension 'python_setup_py' -[1.696s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/build) by extensions ['ignore', 'ignore_ament_install'] -[1.696s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/build) by extension 'ignore' -[1.696s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/build) ignored -[1.697s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/install) by extensions ['ignore', 'ignore_ament_install'] -[1.697s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/install) by extension 'ignore' -[1.697s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/install) ignored -[1.697s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/log) by extensions ['ignore', 'ignore_ament_install'] -[1.697s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/log) by extension 'ignore' -[1.697s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/log) ignored -[1.698s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extensions ['ignore', 'ignore_ament_install'] -[1.698s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'ignore' -[1.698s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'ignore_ament_install' -[1.698s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extensions ['colcon_pkg'] -[1.698s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'colcon_pkg' -[1.700s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extensions ['colcon_meta'] -[1.700s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'colcon_meta' -[1.700s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extensions ['ros'] -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'ros' -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extensions ['cmake', 'python'] -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'cmake' -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'python' -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extensions ['python_setup_py'] -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src) by extension 'python_setup_py' -[1.701s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extensions ['ignore', 'ignore_ament_install'] -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extension 'ignore' -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extension 'ignore_ament_install' -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extensions ['colcon_pkg'] -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extension 'colcon_pkg' -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extensions ['colcon_meta'] -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extension 'colcon_meta' -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extensions ['ros'] -[1.702s] Level 1:colcon.colcon_core.package_identification:_identify(/home/bjorn/Documents/ros-projects/control_ws/src/example_2) by extension 'ros' -[1.713s] DEBUG:colcon.colcon_core.package_identification:Package '/home/bjorn/Documents/ros-projects/control_ws/src/example_2' with type 'ros.ament_cmake' and name 'ros2_control_demo_example_2' -[1.713s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults diff --git a/src/example_2/CMakeLists.txt b/src/example_2/CMakeLists.txt deleted file mode 100644 index ae79510..0000000 --- a/src/example_2/CMakeLists.txt +++ /dev/null @@ -1,73 +0,0 @@ -cmake_minimum_required(VERSION 3.16) -project(ros2_control_demo_example_2 LANGUAGES CXX) - -if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") - add_compile_options(-Wall -Wextra) -endif() - -# find dependencies -set(THIS_PACKAGE_INCLUDE_DEPENDS - hardware_interface - pluginlib - rclcpp - rclcpp_lifecycle -) - -# find dependencies -find_package(ament_cmake REQUIRED) -foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) - find_package(${Dependency} REQUIRED) -endforeach() - - -## COMPILE -add_library( - ros2_control_demo_example_2 - SHARED - hardware/diffbot_system.cpp -) -target_compile_features(ros2_control_demo_example_2 PUBLIC cxx_std_17) -target_include_directories(ros2_control_demo_example_2 PUBLIC -$ -$ -) -ament_target_dependencies( - ros2_control_demo_example_2 PUBLIC - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) - -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. -target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_2_BUILDING_DLL") - -# Export hardware plugins -pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_2.xml) - -# INSTALL -install( - DIRECTORY hardware/include/ - DESTINATION include/ros2_control_demo_example_2 -) -install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz - DESTINATION share/ros2_control_demo_example_2 -) -install( - DIRECTORY bringup/launch bringup/config - DESTINATION share/ros2_control_demo_example_2 -) -install(TARGETS ros2_control_demo_example_2 - EXPORT export_ros2_control_demo_example_2 - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) -endif() - -## EXPORTS -ament_export_targets(export_ros2_control_demo_example_2 HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) -ament_package() diff --git a/src/example_2/README.md b/src/example_2/README.md deleted file mode 100644 index 70ed3ce..0000000 --- a/src/example_2/README.md +++ /dev/null @@ -1,6 +0,0 @@ -# ros2_control_demo_example_2 - - *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. - The robot is basically a box moving according to differential drive kinematics. - -Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_2/doc/userdoc.html). diff --git a/src/example_2/bringup/config/diffbot_controllers.yaml b/src/example_2/bringup/config/diffbot_controllers.yaml deleted file mode 100644 index d45de1b..0000000 --- a/src/example_2/bringup/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/src/example_2/bringup/launch/diffbot.launch.py b/src/example_2/bringup/launch/diffbot.launch.py deleted file mode 100644 index 1275217..0000000 --- a/src/example_2/bringup/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/src/example_2/description/launch/view_robot.launch.py b/src/example_2/description/launch/view_robot.launch.py deleted file mode 100644 index badd807..0000000 --- a/src/example_2/description/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/src/example_2/description/ros2_control/diffbot.ros2_control.xacro b/src/example_2/description/ros2_control/diffbot.ros2_control.xacro deleted file mode 100644 index e1f184d..0000000 --- a/src/example_2/description/ros2_control/diffbot.ros2_control.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - ros2_control_demo_example_2/DiffBotSystemHardware - 0 - 3.0 - - - - - - - - - - - - - - - - diff --git a/src/example_2/description/rviz/diffbot.rviz b/src/example_2/description/rviz/diffbot.rviz deleted file mode 100644 index 365d572..0000000 --- a/src/example_2/description/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: 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- Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 28 diff --git a/src/example_2/description/rviz/diffbot_view.rviz b/src/example_2/description/rviz/diffbot_view.rviz deleted file mode 100644 index d887a81..0000000 --- a/src/example_2/description/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: 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- Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 28 diff --git a/src/example_2/description/urdf/diffbot.materials.xacro b/src/example_2/description/urdf/diffbot.materials.xacro deleted file mode 100644 index 035bf58..0000000 --- a/src/example_2/description/urdf/diffbot.materials.xacro +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/example_2/description/urdf/diffbot.urdf.xacro b/src/example_2/description/urdf/diffbot.urdf.xacro deleted file mode 100644 index a2858e1..0000000 --- a/src/example_2/description/urdf/diffbot.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/src/example_2/description/urdf/diffbot_description.urdf.xacro b/src/example_2/description/urdf/diffbot_description.urdf.xacro deleted file mode 100644 index 03aa349..0000000 --- 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differential drive kinematics. - -For *example_2*, the hardware interface plugin is implemented having only one interface. - -* The communication is done using proprietary API to communicate with the robot control box. -* Data for all joints is exchanged at once. - -The *DiffBot* URDF files can be found in ``description/urdf`` folder. - -Tutorial steps --------------------------- - -1. To check that *DiffBot* description is working properly use following launch commands - - .. code-block:: shell - - ros2 launch ros2_control_demo_example_2 view_robot.launch.py - - .. warning:: - Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - - .. image:: diffbot.png - :width: 400 - :alt: Differential Mobile Robot - -2. To start *DiffBot* example open a terminal, source your ROS2-workspace and execute its launch file with - - .. code-block:: shell - - ros2 launch ros2_control_demo_example_2 diffbot.launch.py - - The launch file loads and starts the robot hardware, controllers and opens *RViz*. - In the starting terminal you will see a lot of output from the hardware implementation showing its internal states. - This excessive printing is only added for demonstration. In general, printing to the terminal should be avoided as much as possible in a hardware interface implementation. - - If you can see an orange box in *RViz* everything has started properly. - Still, to be sure, let's introspect the control system before moving *DiffBot*. - -3. Check if the hardware interface loaded properly, by opening another terminal and executing - - .. code-block:: shell - - ros2 control list_hardware_interfaces - - You should get - - .. code-block:: shell - - command interfaces - left_wheel_joint/velocity [available] [claimed] - right_wheel_joint/velocity [available] [claimed] - state interfaces - left_wheel_joint/position - left_wheel_joint/velocity - right_wheel_joint/position - right_wheel_joint/velocity - - The ``[claimed]`` marker on command interfaces means that a controller has access to command *DiffBot*. - -4. Check if controllers are running - - .. code-block:: shell - - ros2 control list_controllers - - You should get - - .. code-block:: shell - - diffbot_base_controller[diff_drive_controller/DiffDriveController] active - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - -5. If everything is fine, now you can send a command to *Diff Drive Controller* using ROS 2 CLI interface: - - .. code-block:: shell - - ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear: - x: 0.7 - y: 0.0 - z: 0.0 - angular: - x: 0.0 - y: 0.0 - z: 1.0" - - You should now see an orange box circling in *RViz*. - Also, you should see changing states in the terminal where launch file is started. - - .. code-block:: shell - - [DiffBotSystemHardware]: Got command 43.33333 for 'left_wheel_joint'! - [DiffBotSystemHardware]: Got command 50.00000 for 'right_wheel_joint'! - -Files used for this demos --------------------------- - -* Launch file: `diffbot.launch.py `__ -* Controllers yaml: `diffbot_controllers.yaml `__ -* URDF file: `diffbot.urdf.xacro `__ - - * Description: `diffbot_description.urdf.xacro `__ - * ``ros2_control`` tag: `diffbot.ros2_control.xacro `__ - -* RViz configuration: `diffbot.rviz `__ - -* Hardware interface plugin: `diffbot_system.cpp `__ - - -Controllers from this demo --------------------------- - -* ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ -* ``Diff Drive Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/src/example_2/hardware/diffbot_system.cpp b/src/example_2/hardware/diffbot_system.cpp deleted file mode 100644 index 0ca5409..0000000 --- a/src/example_2/hardware/diffbot_system.cpp +++ /dev/null @@ -1,220 +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. - -#include "ros2_control_demo_example_2/diffbot_system.hpp" - -#include -#include -#include -#include -#include -#include - -#include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "rclcpp/rclcpp.hpp" - -namespace ros2_control_demo_example_2 -{ -hardware_interface::CallbackReturn DiffBotSystemHardware::on_init( - const hardware_interface::HardwareInfo & info) // HardwareInfo is coming from ros2_control.xacro file. -{ - if ( - hardware_interface::SystemInterface::on_init(info) != - hardware_interface::CallbackReturn::SUCCESS) - { - 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()); - - for (const hardware_interface::ComponentInfo & joint : info_.joints) - { - // DiffBotSystem has exactly two states and one command interface on each joint - if (joint.command_interfaces.size() != 1) // CHECKS - { - RCLCPP_FATAL( - rclcpp::get_logger("DiffBotSystemHardware"), - "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), - joint.command_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY) // CHECKS - { - RCLCPP_FATAL( - rclcpp::get_logger("DiffBotSystemHardware"), - "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), - joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces.size() != 2) //CHECKS - { - RCLCPP_FATAL( - rclcpp::get_logger("DiffBotSystemHardware"), - "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), - joint.state_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) // CHECKS - { - RCLCPP_FATAL( - rclcpp::get_logger("DiffBotSystemHardware"), - "Joint '%s' have '%s' as first state interface. '%s' expected.", joint.name.c_str(), - joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) // CHECKS - { - RCLCPP_FATAL( - rclcpp::get_logger("DiffBotSystemHardware"), - "Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(), - joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - } - - return hardware_interface::CallbackReturn::SUCCESS; // CHECKS passed! -} - -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])); - } - - return state_interfaces; -} - -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])); - } - - return command_interfaces; -} - -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; - } - } - - RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Successfully activated!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -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 - - RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Successfully deactivated!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -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]; - - 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 - - return hardware_interface::return_type::OK; -} - -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 - - return hardware_interface::return_type::OK; -} - -} // namespace ros2_control_demo_example_2 - -#include "pluginlib/class_list_macros.hpp" -PLUGINLIB_EXPORT_CLASS( - ros2_control_demo_example_2::DiffBotSystemHardware, hardware_interface::SystemInterface) // describes how to export the plugin 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 deleted file mode 100644 index 8c31d08..0000000 --- a/src/example_2/hardware/include/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_; // for cmd_vel - std::vector hw_positions_; // for position feedback - std::vector hw_velocities_; // for velocity feedback -}; - -} // namespace ros2_control_demo_example_2 - -#endif // ROS2_CONTROL_DEMO_EXAMPLE_2__DIFFBOT_SYSTEM_HPP_ diff --git a/src/example_2/hardware/include/ros2_control_demo_example_2/visibility_control.h b/src/example_2/hardware/include/ros2_control_demo_example_2/visibility_control.h deleted file mode 100644 index 568aa90..0000000 --- a/src/example_2/hardware/include/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/src/example_2/package.xml b/src/example_2/package.xml deleted file mode 100644 index b98693d..0000000 --- a/src/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/src/example_2/ros2_control_demo_example_2.xml b/src/example_2/ros2_control_demo_example_2.xml deleted file mode 100644 index c72bbab..0000000 --- a/src/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. - - -