From 0cc94db5e1488f8397ca2a59c3c9d14a5c3d6569 Mon Sep 17 00:00:00 2001 From: robert Date: Mon, 13 Jan 2025 22:13:01 +0800 Subject: [PATCH 001/184] Modify: change permission Change: move user setting command before the working directory setting command Reason: user is root when sets working directory, which cause permission denied problem when colcon build --- docker/local/Dockerfile | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docker/local/Dockerfile b/docker/local/Dockerfile index 01921da..e25dde7 100644 --- a/docker/local/Dockerfile +++ b/docker/local/Dockerfile @@ -79,10 +79,12 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ FROM imu-dep AS final +# Set user as ${username} before setting working directory to avoid permission problem +USER ${USERNAME} + ## Set working directory WORKDIR /home/$USERNAME/localization-ws/src -USER ${USERNAME} COPY .bashrc /home/$USERNAME/.bashrc.conf RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc From f2262976c10a1430751e1954a15040dcde499ca3 Mon Sep 17 00:00:00 2001 From: robert Date: Mon, 13 Jan 2025 22:26:33 +0800 Subject: [PATCH 002/184] Add: necessary packages --- .../local/imu/imu_drive/CMakeLists.txt | 24 +++ .../local/imu/imu_drive/LICENSE | 202 ++++++++++++++++++ .../local/imu/imu_drive/package.xml | 20 ++ .../local/local_filter/CMakeLists.txt | 24 +++ .../local/local_filter/package.xml | 20 ++ .../wheel_odom/odom_drive/CMakeLists.txt | 24 +++ .../local/wheel_odom/odom_drive/LICENSE | 202 ++++++++++++++++++ .../local/wheel_odom/odom_drive/package.xml | 20 ++ 8 files changed, 536 insertions(+) create mode 100644 localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt create mode 100644 localization-ws/src/localization-devel-ws/local/imu/imu_drive/LICENSE create mode 100644 localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/package.xml create mode 100644 localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt create mode 100644 localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE create mode 100644 localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/package.xml diff --git a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt new file mode 100644 index 0000000..641a8bb --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.8) +project(imu_drive) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/LICENSE b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. 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The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml new file mode 100644 index 0000000..44b1135 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml @@ -0,0 +1,20 @@ + + + + imu_drive + 0.0.0 + TODO: Package description + user + Apache-2.0 + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt b/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt new file mode 100644 index 0000000..4aa726c --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.8) +project(local_filter) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/package.xml b/localization-ws/src/localization-devel-ws/local/local_filter/package.xml new file mode 100644 index 0000000..b8f41a5 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/package.xml @@ -0,0 +1,20 @@ + + + + local_filter + 0.0.0 + TODO: Package description + user + TODO: License declaration + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt new file mode 100644 index 0000000..0fe43f5 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.8) +project(odom_drive) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/package.xml b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/package.xml new file mode 100644 index 0000000..298cb14 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/package.xml @@ -0,0 +1,20 @@ + + + + odom_drive + 0.0.0 + TODO: Package description + user + Apache-2.0 + + ament_cmake + + rclcpp + + ament_lint_auto + ament_lint_common + + + ament_cmake + + From 9de92b147fc90e392f8a7acbca1baa9370202b25 Mon Sep 17 00:00:00 2001 From: jossiewang <124905236+jossiewang@users.noreply.github.com> Date: Tue, 14 Jan 2025 13:52:44 +0800 Subject: [PATCH 003/184] Add minimal phidgets_drivers --- docker/local-ros2/phidgets_drivers/LICENSE | 5 + .../local-ros2/phidgets_drivers/LICENSE.bsd | 26 + .../local-ros2/phidgets_drivers/LICENSE.gplv3 | 674 ++++++++++++++++++ .../phidgets_drivers/LICENSE.lgplv3 | 165 +++++ docker/local-ros2/phidgets_drivers/README.md | 193 +++++ .../libphidget22/CHANGELOG.rst | 103 +++ .../libphidget22/CMakeLists.txt | 45 ++ .../cmake/libphidget22-extras.cmake.in | 3 + .../env_hook/libphidget22_library_path.dsv.in | 1 + .../env_hook/libphidget22_library_path.sh | 16 + .../phidgets_drivers/libphidget22/package.xml | 29 + .../phidgets_api/CHANGELOG.rst | 179 +++++ .../phidgets_api/CMakeLists.txt | 57 ++ .../phidgets_drivers/phidgets_api/debian/udev | 7 + .../include/phidgets_api/accelerometer.hpp | 72 ++ .../include/phidgets_api/analog_input.hpp | 72 ++ .../include/phidgets_api/analog_inputs.hpp | 68 ++ .../include/phidgets_api/analog_output.hpp | 59 ++ .../include/phidgets_api/analog_outputs.hpp | 64 ++ .../include/phidgets_api/digital_input.hpp | 70 ++ .../include/phidgets_api/digital_inputs.hpp | 66 ++ .../include/phidgets_api/digital_output.hpp | 60 ++ .../include/phidgets_api/digital_outputs.hpp | 64 ++ .../include/phidgets_api/encoder.hpp | 97 +++ .../include/phidgets_api/encoders.hpp | 94 +++ .../include/phidgets_api/gyroscope.hpp | 74 ++ .../phidgets_api/include/phidgets_api/ir.hpp | 66 ++ .../include/phidgets_api/magnetometer.hpp | 80 +++ .../include/phidgets_api/motor.hpp | 86 +++ .../include/phidgets_api/motors.hpp | 75 ++ .../include/phidgets_api/phidget22.hpp | 67 ++ .../include/phidgets_api/spatial.hpp | 118 +++ .../include/phidgets_api/temperature.hpp | 81 +++ .../phidgets_drivers/phidgets_api/package.xml | 26 + .../phidgets_api/src/accelerometer.cpp | 137 ++++ .../phidgets_api/src/analog_input.cpp | 142 ++++ .../phidgets_api/src/analog_inputs.cpp | 104 +++ .../phidgets_api/src/analog_output.cpp | 85 +++ .../phidgets_api/src/analog_outputs.cpp | 99 +++ .../phidgets_api/src/digital_input.cpp | 118 +++ .../phidgets_api/src/digital_inputs.cpp | 97 +++ .../phidgets_api/src/digital_output.cpp | 93 +++ .../phidgets_api/src/digital_outputs.cpp | 96 +++ .../phidgets_api/src/encoder.cpp | 176 +++++ .../phidgets_api/src/encoders.cpp | 116 +++ .../phidgets_api/src/gyroscope.cpp | 144 ++++ .../phidgets_drivers/phidgets_api/src/ir.cpp | 93 +++ .../phidgets_api/src/magnetometer.cpp | 153 ++++ .../phidgets_api/src/motor.cpp | 257 +++++++ .../phidgets_api/src/motors.cpp | 136 ++++ .../phidgets_api/src/phidget22.cpp | 99 +++ .../phidgets_api/src/spatial.cpp | 274 +++++++ .../phidgets_api/src/temperature.cpp | 135 ++++ .../phidgets_drivers/CHANGELOG.rst | 108 +++ .../phidgets_drivers/CMakeLists.txt | 4 + .../phidgets_drivers/package.xml | 44 ++ .../phidgets_msgs/CHANGELOG.rst | 90 +++ .../phidgets_msgs/CMakeLists.txt | 35 + .../msg/EncoderDecimatedSpeed.msg | 4 + .../phidgets_msgs/package.xml | 28 + .../phidgets_msgs/srv/SetAnalogOutput.srv | 6 + .../phidgets_msgs/srv/SetDigitalOutput.srv | 6 + .../phidgets_spatial/CHANGELOG.rst | 212 ++++++ .../phidgets_spatial/CMakeLists.txt | 50 ++ .../phidgets_spatial/README.md | 60 ++ .../phidgets_spatial/spatial_ros_i.hpp | 124 ++++ .../phidgets_spatial/launch/spatial-launch.py | 63 ++ .../phidgets_spatial/package.xml | 32 + .../phidgets_spatial/src/spatial_ros_i.cpp | 617 ++++++++++++++++ 69 files changed, 6999 insertions(+) create mode 100644 docker/local-ros2/phidgets_drivers/LICENSE create mode 100644 docker/local-ros2/phidgets_drivers/LICENSE.bsd create mode 100644 docker/local-ros2/phidgets_drivers/LICENSE.gplv3 create mode 100644 docker/local-ros2/phidgets_drivers/LICENSE.lgplv3 create mode 100644 docker/local-ros2/phidgets_drivers/README.md create mode 100644 docker/local-ros2/phidgets_drivers/libphidget22/CHANGELOG.rst create mode 100644 docker/local-ros2/phidgets_drivers/libphidget22/CMakeLists.txt create mode 100644 docker/local-ros2/phidgets_drivers/libphidget22/cmake/libphidget22-extras.cmake.in create mode 100644 docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.dsv.in create mode 100644 docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.sh create mode 100644 docker/local-ros2/phidgets_drivers/libphidget22/package.xml create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/CHANGELOG.rst create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/CMakeLists.txt create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/debian/udev create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/accelerometer.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_input.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_inputs.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_output.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_outputs.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_input.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_inputs.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_output.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_outputs.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoder.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoders.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/gyroscope.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/ir.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/magnetometer.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motor.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motors.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/phidget22.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/spatial.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/temperature.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/package.xml create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/accelerometer.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_input.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_inputs.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_output.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_outputs.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_input.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_inputs.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_output.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_outputs.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/encoder.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/encoders.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/gyroscope.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/ir.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/magnetometer.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/motor.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/motors.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/phidget22.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/spatial.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_api/src/temperature.cpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_drivers/CHANGELOG.rst create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_drivers/CMakeLists.txt create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_drivers/package.xml create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_msgs/CHANGELOG.rst create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_msgs/CMakeLists.txt create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_msgs/msg/EncoderDecimatedSpeed.msg create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_msgs/package.xml create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetAnalogOutput.srv create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetDigitalOutput.srv create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/CHANGELOG.rst create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/CMakeLists.txt create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/README.md create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/include/phidgets_spatial/spatial_ros_i.hpp create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/launch/spatial-launch.py create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/package.xml create mode 100644 docker/local-ros2/phidgets_drivers/phidgets_spatial/src/spatial_ros_i.cpp diff --git a/docker/local-ros2/phidgets_drivers/LICENSE b/docker/local-ros2/phidgets_drivers/LICENSE new file mode 100644 index 0000000..2863577 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/LICENSE @@ -0,0 +1,5 @@ +The libphidgets22 library is licensed under the GNU Lesser General Public Licence v3 or later. +See LICENSE.gplv3 and LICENSE.lgplv3 for the text of the license. + +The rest of the code in this repository is licensed under the 3-clause BSD license. +See LICENSE.bsd for the text of the license. diff --git a/docker/local-ros2/phidgets_drivers/LICENSE.bsd b/docker/local-ros2/phidgets_drivers/LICENSE.bsd new file mode 100644 index 0000000..d06df08 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/LICENSE.bsd @@ -0,0 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If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/docker/local-ros2/phidgets_drivers/README.md b/docker/local-ros2/phidgets_drivers/README.md new file mode 100644 index 0000000..ccb9d82 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/README.md @@ -0,0 +1,193 @@ +Phidgets drivers for ROS 2 +========================== + +Overview +-------- + +Drivers for various [Phidgets](https://www.phidgets.com) devices. This package includes: + +* `libphidget22`: a package which downloads and builds the Phidgets C API from + phidgets.com as an external project. + +* `phidgets_api`: a package that implements a C++ wrapper for the libphidgets22 + C API, providing some base Phidget helper functions and various classes for + different phidget devices. + +* `phidgets_msgs`: a package that contains custom messages and services for + interacting with the nodes. + +* ROS 2 nodes exposing the functionality of specific phidgets devices: + + * [`phidgets_accelerometer`](phidgets_accelerometer/README.md) + + * [`phidgets_analog_inputs`](phidgets_analog_inputs/README.md) + + * [`phidgets_analog_outputs`](phidgets_analog_outputs/README.md) + + * [`phidgets_digital_inputs`](phidgets_digital_inputs/README.md) + + * [`phidgets_digital_outputs`](phidgets_digital_outputs/README.md) + + * [`phidgets_gyroscope`](phidgets_gyroscope/README.md) + + * [`phidgets_high_speed_encoder`](phidgets_high_speed_encoder/README.md) + + * [`phidgets_ik`](phidgets_ik/README.md) + + * [`phidgets_magnetometer`](phidgets_magnetometer/README.md) + + * [`phidgets_motors`](phidgets_motors/README.md) + + * [`phidgets_spatial`](phidgets_spatial/README.md) + + * [`phidgets_temperature`](phidgets_temperature/README.md) + +Concerning Phidgets +------------------- + +Phidgets are typically plugged into USB on a host computer (though there are +wireless ones, they will be ignored here). In the "old-style" Phidgets, there +was one USB plug per device. So if you have a +[temperature Phidget](https://www.phidgets.com/?tier=3&catid=14&pcid=12&prodid=1042), +and an [accelerometer Phidget](https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=1026), +they take up 2 USB plugs on the computer. These "old-style" Phidgets are still +around and still available for sale, but most of the new development and +sensors are in "new-style" Phidgets. In "new-style" Phidgets, a +[VINT hub](https://www.phidgets.com/?tier=3&catid=2&pcid=1&prodid=643) is +connected to the host computer via USB, and then the other Phidgets connect to +a port on the VINT hub. Most of the "old-style" Phidget functions (temperature, +acclerometer, etc.) are also available as "new-style" Phidgets, and most new +functionality is only available as VINT devices. + +### Identifying Phidgets devices ### + +All Phidgets that plug directly into a USB port (including the VINT hub) have a +unique serial number. This serial number is printed on the back of the device, +and is also printed out by the phidgets drivers when they start up. The serial +number can be specified as a parameter when the driver starts up; otherwise, the +default is to connect to *any* Phidgets that are of the correct type at startup. + +Uniquely identifying a "new-style" Phidget also requires one more piece of +information, which is the VINT hub port it is connected to. This also must be +provided as a parameter when starting up the driver. + +Note that there are "smart" and "simple" VINT hub devices. "Smart" devices have +their own microcontrollers on board and use a protocol to communicate with the +VINT hub. + +"Simple" VINT hub devices don't have a microcontroller. They just provide +or accept a voltage from the VINT hub port (which can act as a digital input, +digital output, or analog inputs). + +Whether the Phidget is "smart" or "simple" can be determined by looking at the +"Connection and Compatibility" portion of the webpage for the individual sensor. +If the device is "smart", then "is_hub_port_device" must be set to "false" +when launching a driver; if the device is "simple", then "is_hub_port_device" +must be set to "true". + +Installing +---------- + +### From packages ### + +Make sure you have ROS 2 Dashing or newer installed: https://docs.ros.org + +Then run: + + sudo apt-get install ros--phidgets-drivers + +### From source ### + +Make sure you have ROS 2 Dashing or newer installed: https://docs.ros.org + +Also make sure you have git installed: + + sudo apt-get install git-core + +Change directory to the source folder of your colcon workspace. +If, for instance, your workspace is `~/colcon_ws`, make sure there is +a `src/` folder within it, then execute: + + cd ~/colcon_ws/src + +Clone the repository ( may be `dashing`, ...) + + git clone -b https://github.com/ros-drivers/phidgets_drivers.git + +Install dependencies using rosdep: + + rosdep install phidgets_drivers + +Alternatively, if rosdep does not work, install the following packages: + + sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev + +Compile your colcon workspace: + + cd ~/colcon_ws + colcon build + +### Udev rules setup ### + +**Note:** The following steps are only required when installing the package +from source. When installing a binary debian package of `phidgets_api` >= 0.7.8, +the udev rules are set up automatically. + +Make sure your colcon workspace has been successfully compiled. +To set up the udev rules for the Phidgets USB devices, run the following commands: + + sudo cp ~/colcon_ws/src/phidgets_drivers/phidgets_api/debian/udev /etc/udev/rules.d/99-phidgets.rules + sudo udevadm control --reload-rules + +Afterwards, disconnect the USB cable and plug it in again (or run `sudo udevadm trigger`). + +Running +------- + +You may notice that there are no executables installed by the various phidgets packages. +Instead, all functionality is available via [ROS 2 components](https://docs.ros.org/en/rolling/Concepts/About-Composition.html). +The reason for this is that when using phidget VINT hubs, only one process at a time can access the hub. +Since the hub may have multiple devices connected to it, we need to load multiple different phidgets drivers into the same process. +We do that through loading multiple components into a single ROS 2 component container. + +Luckily, to make things easier in the single device case, we have default launch files for running a single phidgets driver in a single process. +For instance, you can run the phidgets_spatial node by running: + + ros2 launch phidgets_spatial spatial-launch.py + +See the README files in the individual packages above for exact usage of each launch file. + +Developing +---------- + +To check formatting after modifying source code: + + python3 clang-check-style.py + +To reformat source code: + + find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format-6.0 -i -style=file $1 + + +pre-commit Formatting Checks +---------------------------- + +This repo has a [pre-commit](https://pre-commit.com/) check that runs in CI. +You can use this locally and set it up to run automatically before you commit +something. To install, use apt: + +```bash +sudo apt install pre-commit +``` + +To run over all the files in the repo manually: + +```bash +pre-commit run -a +``` + +To run pre-commit automatically before committing in the local repo, install the git hooks: + +```bash +pre-commit install +``` diff --git a/docker/local-ros2/phidgets_drivers/libphidget22/CHANGELOG.rst b/docker/local-ros2/phidgets_drivers/libphidget22/CHANGELOG.rst new file mode 100644 index 0000000..324fe84 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/libphidget22/CHANGELOG.rst @@ -0,0 +1,103 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package libphidget22 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.3 (2024-03-13) +------------------ +* Update to libphidget22 1.19 (`#176 `_) +* Contributors: Martin Günther + +2.3.2 (2023-11-27) +------------------ + +2.3.1 (2023-03-03) +------------------ +* Update to libphidget22 1.13. (`#160 `_) +* Contributors: Chris Lalancette + +2.3.0 (2022-04-13) +------------------ +* Update to libphidgets 20220203 (`#138 `_) +* Contributors: Chris Lalancette + +2.2.2 (2022-02-17) +------------------ +* Remove outdated patch file (`#112 `_) +* Update to libphidget22-1.7.20210816 (`#108 `_) + This is required to support new devices such as the MOT0109. + Fixes `#99 `_, fixes `#105 `_. + This is a forward-port of `#106 `_ to ROS2. +* Make sure libphidget22 library can be found. (`#97 `_) (`#100 `_) + In Foxy and later, we need to provide the .dsv hook so that + the library can be found. +* Contributors: Chris Lalancette, Martin Günther + +2.2.1 (2021-08-03) +------------------ +* Update to the latest libphidgets 1.6 library. (`#91 `_) +* Contributors: Chris Lalancette + +2.2.0 (2021-05-20) +------------------ + +2.1.0 (2021-03-29) +------------------ +* Compile libphidget22 with -fPIC (`#88 `_) +* Update to libphidget22 from 2020. +* Contributors: Chris Lalancette, Scott K Logan + +2.0.2 (2020-06-01) +------------------ + +2.0.1 (2019-12-05) +------------------ + +2.0.0 (2019-12-05) +------------------ +* Port libphidget22 vendor package to ament. +* Ignore all packages for ROS 2 port. +* Update maintainers in package.xml +* Merge pull request `#39 `_ from clalancette/add-libphidget22 +* Patch warnings in libphidget22. +* Fix up libphidget22 package.xml dependencies. +* Add in libphidget22 package. +* Contributors: Chris Lalancette, Martin Günther + +0.7.9 (2019-06-28) +------------------ + +0.7.8 (2019-05-06) +------------------ + +0.7.7 (2018-09-18) +------------------ + +0.7.6 (2018-08-09) +------------------ + +0.7.5 (2018-01-31) +------------------ + +0.7.4 (2017-10-04) +------------------ + +0.7.3 (2017-06-30) +------------------ + +0.7.2 (2017-06-02) +------------------ + +0.7.1 (2017-05-22) +------------------ + +0.7.0 (2017-02-17 17:40) +------------------------ + +0.2.3 (2017-02-17 12:11) +------------------------ + +0.2.2 (2015-03-23) +------------------ + +0.2.1 (2015-01-15) +------------------ diff --git a/docker/local-ros2/phidgets_drivers/libphidget22/CMakeLists.txt b/docker/local-ros2/phidgets_drivers/libphidget22/CMakeLists.txt new file mode 100644 index 0000000..d0640d5 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/libphidget22/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required(VERSION 3.5) +project(libphidget22) + +find_package(ament_cmake REQUIRED) + +set(extra_c_flags "-g -O2 -Wno-incompatible-pointer-types -Wno-deprecated-declarations -Wno-format-truncation -fPIC") + +include(ExternalProject) +ExternalProject_Add(EP_${PROJECT_NAME} + URL https://www.phidgets.com/downloads/phidget22/libraries/linux/libphidget22/libphidget22-1.19.20240304.tar.gz + URL_MD5 9b059eaef8cb8ce70b8abd7e4d309d1d + + SOURCE_DIR ${PROJECT_BINARY_DIR}/${PROJECT_NAME}-src + CONFIGURE_COMMAND + /configure + CFLAGS=${extra_c_flags} + --prefix=${CMAKE_CURRENT_BINARY_DIR}/libphidget22_install + --disable-ldconfig + BUILD_COMMAND $(MAKE) + INSTALL_COMMAND $(MAKE) install +) + +# The external project will install to the build folder, but we'll install that on make install. +# Note that we install lib and include separately so we can add the extra level of indirection +# to the include directory. +install( + DIRECTORY + ${CMAKE_CURRENT_BINARY_DIR}/libphidget22_install/lib/ + DESTINATION + ${CMAKE_INSTALL_PREFIX}/opt/libphidget22/lib/ +) + +install( + DIRECTORY + ${CMAKE_CURRENT_BINARY_DIR}/libphidget22_install/include/ + DESTINATION + ${CMAKE_INSTALL_PREFIX}/opt/libphidget22/include/libphidget22/ +) + +ament_environment_hooks(env_hook/libphidget22_library_path.sh) +set(ENV_VAR_NAME "LD_LIBRARY_PATH") +set(ENV_VAR_VALUE "opt/libphidget22/lib") +ament_environment_hooks(env_hook/libphidget22_library_path.dsv.in) + +ament_package(CONFIG_EXTRAS "cmake/libphidget22-extras.cmake.in") diff --git a/docker/local-ros2/phidgets_drivers/libphidget22/cmake/libphidget22-extras.cmake.in b/docker/local-ros2/phidgets_drivers/libphidget22/cmake/libphidget22-extras.cmake.in new file mode 100644 index 0000000..7a386fa --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/libphidget22/cmake/libphidget22-extras.cmake.in @@ -0,0 +1,3 @@ +# TODO(clalancette): Does this work in general? +list(APPEND @PROJECT_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/../../../opt/libphidget22/include") +list(APPEND @PROJECT_NAME@_LIBRARIES "${@PROJECT_NAME@_DIR}/../../../opt/libphidget22/lib/libphidget22.so") diff --git a/docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.dsv.in b/docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.dsv.in new file mode 100644 index 0000000..92145c4 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;@ENV_VAR_NAME@;@ENV_VAR_VALUE@ diff --git a/docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.sh b/docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.sh new file mode 100644 index 0000000..a6e0098 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/libphidget22/env_hook/libphidget22_library_path.sh @@ -0,0 +1,16 @@ +# copied from libphidget22/env_hook/libphidget22_library_path.sh + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_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/opt/libphidget22/lib" +else + ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/opt/libphidget22/lib" +fi +unset _IS_DARWIN diff --git a/docker/local-ros2/phidgets_drivers/libphidget22/package.xml b/docker/local-ros2/phidgets_drivers/libphidget22/package.xml new file mode 100644 index 0000000..027d8de --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/libphidget22/package.xml @@ -0,0 +1,29 @@ + + + + libphidget22 + 2.3.3 + This package wraps the libphidget22 to use it as a ROS dependency + + Martin Günther + Chris Lalancette + + LGPL + + http://ros.org/wiki/libphidget22 + https://github.com/ros-drivers/phidgets_drivers.git + https://github.com/ros-drivers/phidgets_drivers/issues + + Alexander Bubeck + + ament_cmake + + libusb-1.0-dev + libusb-1.0 + + + ament_cmake + + diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/CHANGELOG.rst b/docker/local-ros2/phidgets_drivers/phidgets_api/CHANGELOG.rst new file mode 100644 index 0000000..887aa45 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/CHANGELOG.rst @@ -0,0 +1,179 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package phidgets_api +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.3 (2024-03-13) +------------------ + +2.3.2 (2023-11-27) +------------------ +* added new parameters for spatial precision MOT0109 onwards +* added support for phidget spatial onboard orientation estimation +* Contributors: Malte kl. Piening, Martin Günther + +2.3.1 (2023-03-03) +------------------ +* adding support for analog outputs for ROS2 (`#145 `_) +* Contributors: Alexis Fetet + +2.3.0 (2022-04-13) +------------------ + +2.2.2 (2022-02-17) +------------------ +* spatial: Add attach + detach handlers +* Fix some clang-tidy warnings +* Fix typo in error message (`#104 `_) +* Contributors: Martin Günther + +2.2.1 (2021-08-03) +------------------ + +2.2.0 (2021-05-20) +------------------ + +2.1.0 (2021-03-29) +------------------ +* Switch header guards to _HPP SUFFIX. +* Remove unnecessary cstddef. +* Contributors: Chris Lalancette + +2.0.2 (2020-06-01) +------------------ +* Use '=default' for default destructors. (`#66 `_) +* Contributors: Chris Lalancette + +2.0.1 (2019-12-05) +------------------ +* Switch the buildtoo_depend to ament_cmake_ros. (`#65 `_) +* Contributors: Chris Lalancette + +2.0.0 (2019-12-05) +------------------ +* Remove unnecessary base-class initialization. +* Get rid of C-style casts. +* Make sure what() method is marked as override. +* Rename method parameter name to match implementation. +* Make sure to include cstddef for libphidget22.h include. +* Make sure to initialize class member variables. +* Reformat using clang +* Make sure to set the VoltageRange to AUTO at the beginning. +* Only publish motor_back_emf if supported by DC Motor device (`#53 `_) +* Print out the serial number when connecting. +* Port phidgets_api to ament. +* Ignore all packages for ROS 2 port. +* Update maintainers in package.xml +* Merge pull request `#39 `_ from clalancette/add-libphidget22 +* Add in try/catch blocks for connecting. +* Fixes from review. +* Implement data interval setting for analog inputs. +* Add in the license files and add to the headers. +* Completely remove libphidget21. +* Rewrite Motor Phidget to use libphidget22. +* Rewrite High Speed Encoder to use libphidget22. +* Rewrite IR to use libphidget22. +* Rewrite IMU using libphidget22. +* Add support for Phidgets Magnetometer sensors. +* Add support for Phidgets Gyroscope sensors. +* Add support for Phidgets Accelerometer sensors. +* Add in support for Phidgets Temperature sensors. +* Rewrite phidgets_ik on top of libphidget22 classes. +* Add in support for Phidgets Analog inputs. +* Add in support for Phidgets Digital Inputs. +* Add in support for Phidgets Digital Outputs. +* Add in libphidget22 helper functions. +* Rename Phidget class to Phidget21 class. +* Switch to C++14. +* Merge pull request `#36 `_ from clalancette/phidget-cleanup2 +* Run clang-format on the whole codebase. +* Switch to C++14 everywhere. +* Remove unused indexHandler from Encoder class. +* Change API from separate open/waitForAttachment to openAndWaitForAttachment. +* Small cleanups throughout the code. +* Push libphidgets API calls down to phidgets_api. +* Quiet down the to-be-overridden callbacks. +* Consistently use nullptr instead of 0. +* Make the phidget_api destructors virtual. +* Style cleanup. +* Move libusb dependency into the libphidget21 package.xml. +* Switch to package format 2. +* Cleanup spacing in all of the CMakeLists.txt +* Contributors: Chris Lalancette, Martin Günther, Peter Polidoro + +0.7.9 (2019-06-28) +------------------ +* Add missing OnInputChange handler (`#33 `_) +* Contributors: Kai Hermann + +0.7.8 (2019-05-06) +------------------ +* Install udev rules on binary package installation +* Contributors: Martin Günther + +0.7.7 (2018-09-18) +------------------ + +0.7.6 (2018-08-09) +------------------ + +0.7.5 (2018-01-31) +------------------ +* Add support for the phidgets_ik (Phidgets Interface Kit) +* Contributors: Russel Howe, James Sarrett, Martin Günther + +0.7.4 (2017-10-04) +------------------ +* Fix typo and doxygen docs +* Contributors: Jose Luis Blanco Claraco, Martin Günther + +0.7.3 (2017-06-30) +------------------ + +0.7.2 (2017-06-02) +------------------ + +0.7.1 (2017-05-22) +------------------ +* Set event handlers for motor + encoder APIs +* Added basic motor api +* Added basic encoder board api +* Contributors: Zach Anderson, Martin Günther + +0.7.0 (2017-02-17) +------------------ +* Use our own libphidget21 instead of external libphidgets +* Contributors: Martin Günther + +0.2.3 (2017-02-17) +------------------ +* Add IMU diagnostics (`#24 `_) +* Contributors: Mani Monajjemi, Keshav Iyengar, Martin Günther + +0.2.2 (2015-03-23) +------------------ +* phidgets_api: updated build/installation rules to use 3rd party libphdigets ROS package +* phidgets_api: updated package details +* phidgets_api: added copy of udev rule to package and updated path in script +* phidgets_api: updated path to libphidgets header file +* phidgets_api: removed license and header file of phidgets library +* Contributors: Murilo FM + +0.2.1 (2015-01-15) +------------------ +* phidgets_api: add libusb dependency + This caused Jenkins CI tests to fail. +* phidgets_api: fix case in CMakeLists +* phidgets_api: added GNU LGPLv3 copy (phidget21.h) +* phidgets_api: updated license and author information +* phidgets_api: added script to setup udev rules for Phidgets devices +* phidgets_api: added libphidget21 dependency as cmake external project +* phidgets_api: updated path to libphidget header file +* phidgets_api: added libphidget header file to package +* phidgets_api: removed phidgets_c_api dependency +* Deleted comments within files of all packages +* Catkinised packages +* added missing cmakelists +* added api, imu and ir +* removed deps directory +* initial commit +* Contributors: Ivan Dryanovski, Martin Günther, Murilo FM diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/CMakeLists.txt b/docker/local-ros2/phidgets_drivers/phidgets_api/CMakeLists.txt new file mode 100644 index 0000000..c3232bf --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/CMakeLists.txt @@ -0,0 +1,57 @@ +cmake_minimum_required(VERSION 3.5) + +project(phidgets_api) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_ros REQUIRED) +find_package(libphidget22 REQUIRED) + +include_directories(include) + +add_library(phidgets_api src/accelerometer.cpp + src/analog_input.cpp + src/analog_inputs.cpp + src/analog_output.cpp + src/analog_outputs.cpp + src/digital_input.cpp + src/digital_inputs.cpp + src/digital_output.cpp + src/digital_outputs.cpp + src/encoder.cpp + src/encoders.cpp + src/gyroscope.cpp + src/ir.cpp + src/magnetometer.cpp + src/motor.cpp + src/motors.cpp + src/phidget22.cpp + src/spatial.cpp + src/temperature.cpp) + +ament_target_dependencies(phidgets_api + libphidget22 +) + +install(TARGETS phidgets_api + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +install(DIRECTORY include/ + DESTINATION include +) + +ament_export_dependencies(ament_cmake libphidget22) +ament_export_include_directories(include) +ament_export_libraries(phidgets_api) + +ament_package() diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/debian/udev b/docker/local-ros2/phidgets_drivers/phidgets_api/debian/udev new file mode 100644 index 0000000..52074cc --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/debian/udev @@ -0,0 +1,7 @@ +# Very old Phidgets +SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="0925", ATTRS{idProduct}=="8101", MODE="666" +SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="0925", ATTRS{idProduct}=="8104", MODE="666" +SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="0925", ATTRS{idProduct}=="8201", MODE="666" + +# All current and future Phidgets - Vendor = 0x06c2, Product = 0x0030 - 0x00af +SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="06c2", ATTRS{idProduct}=="00[3-a][0-f]", MODE="666" diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/accelerometer.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/accelerometer.hpp new file mode 100644 index 0000000..a0f5690 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/accelerometer.hpp @@ -0,0 +1,72 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ACCELEROMETER_HPP +#define PHIDGETS_API_ACCELEROMETER_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Accelerometer final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Accelerometer) + + explicit Accelerometer( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function data_handler); + + ~Accelerometer(); + + int32_t getSerialNumber() const noexcept; + + void getAcceleration(double &x, double &y, double &z, + double ×tamp) const; + + void setDataInterval(uint32_t interval_ms) const; + + void dataHandler(const double acceleration[3], double timestamp) const; + + private: + int32_t serial_number_; + std::function data_handler_; + PhidgetAccelerometerHandle accel_handle_{nullptr}; + + static void DataHandler(PhidgetAccelerometerHandle input_handle, void *ctx, + const double acceleration[3], double timestamp); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ACCELEROMETER_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_input.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_input.hpp new file mode 100644 index 0000000..4664874 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_input.hpp @@ -0,0 +1,72 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ANALOG_INPUT_HPP +#define PHIDGETS_API_ANALOG_INPUT_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class AnalogInput final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(AnalogInput) + + explicit AnalogInput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel, + std::function input_handler); + + ~AnalogInput(); + + int32_t getSerialNumber() const noexcept; + + double getSensorValue() const; + + void setDataInterval(uint32_t data_interval_ms) const; + + void voltageChangeHandler(double sensorValue) const; + + private: + int32_t serial_number_; + int channel_; + std::function input_handler_; + PhidgetVoltageInputHandle ai_handle_{nullptr}; + + static void VoltageChangeHandler(PhidgetVoltageInputHandle input_handle, + void *ctx, double sensorValue); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ANALOG_INPUT_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_inputs.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_inputs.hpp new file mode 100644 index 0000000..a961932 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_inputs.hpp @@ -0,0 +1,68 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ANALOG_INPUTS_HPP +#define PHIDGETS_API_ANALOG_INPUTS_HPP + +#include +#include +#include + +#include "phidgets_api/analog_input.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class AnalogInputs final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(AnalogInputs) + + explicit AnalogInputs(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function input_handler); + + ~AnalogInputs() = default; + + int32_t getSerialNumber() const noexcept; + + uint32_t getInputCount() const noexcept; + + double getSensorValue(int index) const; + + void setDataInterval(int index, uint32_t data_interval_ms) const; + + private: + uint32_t input_count_{0}; + std::vector> ais_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ANALOG_INPUTS_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_output.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_output.hpp new file mode 100644 index 0000000..fec7564 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_output.hpp @@ -0,0 +1,59 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ANALOG_OUTPUT_HPP +#define PHIDGETS_API_ANALOG_OUTPUT_HPP + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class AnalogOutput final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(AnalogOutput) + + explicit AnalogOutput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel); + + ~AnalogOutput(); + + void setOutputVoltage(double voltage) const; + + void setEnabledOutput(int enabled) const; + + private: + PhidgetVoltageOutputHandle ao_handle_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ANALOG_OUTPUT_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_outputs.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_outputs.hpp new file mode 100644 index 0000000..d93fa5f --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/analog_outputs.hpp @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ANALOG_OUTPUTS_HPP +#define PHIDGETS_API_ANALOG_OUTPUTS_HPP + +#include +#include + +#include "phidgets_api/analog_output.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class AnalogOutputs final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(AnalogOutputs) + + explicit AnalogOutputs(int32_t serial_number, int hub_port, + bool is_hub_port_device); + + ~AnalogOutputs(); + + uint32_t getOutputCount() const noexcept; + + void setOutputVoltage(int index, double voltage) const; + + void setEnabledOutput(int index, int enabled) const; + + private: + uint32_t output_count_; + std::vector> aos_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ANALOG_INPUTS_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_input.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_input.hpp new file mode 100644 index 0000000..cca92b4 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_input.hpp @@ -0,0 +1,70 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_DIGITAL_INPUT_HPP +#define PHIDGETS_API_DIGITAL_INPUT_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class DigitalInput +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(DigitalInput) + + explicit DigitalInput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel, + std::function input_handler); + + ~DigitalInput(); + + int32_t getSerialNumber() const noexcept; + + bool getInputValue() const; + + void stateChangeHandler(int state) const; + + private: + int32_t serial_number_; + int channel_; + std::function input_handler_; + PhidgetDigitalInputHandle di_handle_{nullptr}; + + static void StateChangeHandler(PhidgetDigitalInputHandle input_handle, + void *ctx, int state); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_DIGITAL_INPUT_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_inputs.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_inputs.hpp new file mode 100644 index 0000000..5188c6f --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_inputs.hpp @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_DIGITAL_INPUTS_HPP +#define PHIDGETS_API_DIGITAL_INPUTS_HPP + +#include +#include +#include + +#include "phidgets_api/digital_input.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class DigitalInputs +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(DigitalInputs) + + explicit DigitalInputs(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function input_handler); + + ~DigitalInputs() = default; + + int32_t getSerialNumber() const noexcept; + + uint32_t getInputCount() const noexcept; + + bool getInputValue(int index) const; + + private: + uint32_t input_count_{0}; + std::vector> dis_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_DIGITAL_INPUTS_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_output.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_output.hpp new file mode 100644 index 0000000..937967b --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_output.hpp @@ -0,0 +1,60 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_DIGITAL_OUTPUT_HPP +#define PHIDGETS_API_DIGITAL_OUTPUT_HPP + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class DigitalOutput final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(DigitalOutput) + + explicit DigitalOutput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel); + + ~DigitalOutput(); + + int32_t getSerialNumber() const noexcept; + + void setOutputState(bool state) const; + + private: + int32_t serial_number_; + PhidgetDigitalOutputHandle do_handle_{nullptr}; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_DIGITAL_OUTPUT_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_outputs.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_outputs.hpp new file mode 100644 index 0000000..b87a57b --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/digital_outputs.hpp @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_DIGITAL_OUTPUTS_HPP +#define PHIDGETS_API_DIGITAL_OUTPUTS_HPP + +#include +#include + +#include "phidgets_api/digital_output.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class DigitalOutputs final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(DigitalOutputs) + + explicit DigitalOutputs(int32_t serial_number, int hub_port, + bool is_hub_port_device); + + ~DigitalOutputs() = default; + + int32_t getSerialNumber() const noexcept; + + uint32_t getOutputCount() const noexcept; + + void setOutputState(int index, bool state) const; + + private: + uint32_t output_count_{0}; + std::vector> dos_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_DIGITAL_OUTPUTS_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoder.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoder.hpp new file mode 100644 index 0000000..6ed06ec --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoder.hpp @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ENCODER_HPP +#define PHIDGETS_API_ENCODER_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Encoder final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Encoder) + + explicit Encoder( + int32_t serial_number, int hub_port, bool is_hub_port_device, + int channel, + std::function position_change_handler); + + ~Encoder(); + + int32_t getSerialNumber() const noexcept; + + /** @brief Reads the current position of an encoder + */ + int64_t getPosition() const; + + /** @brief Sets the offset of an encoder such that current position is the + * specified value + * @param position The new value that should be returned by + * 'getPosition(index)' at the current position of the encoder*/ + void setPosition(int64_t position) const; + + /** @brief Gets the position of an encoder the last time an index pulse + * occured. An index pulse in this context refers to an input from the + * encoder the pulses high once every revolution. + */ + int64_t getIndexPosition() const; + + /** @brief Checks if an encoder is powered on and receiving events + */ + bool getEnabled() const; + + /** @brief Set the powered state of an encoder. If an encoder is not + * enabled, it will not be given power, and events and changes in position + * will not be captured. + * @param enabled The new powered state of the encoder*/ + void setEnabled(bool enabled) const; + + void positionChangeHandler(int position_change, double time, + int index_triggered); + + private: + int32_t serial_number_; + int channel_; + std::function position_change_handler_; + PhidgetEncoderHandle encoder_handle_{nullptr}; + + static void PositionChangeHandler(PhidgetEncoderHandle phid, void *ctx, + int position_change, double time, + int index_triggered); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ENCODER_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoders.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoders.hpp new file mode 100644 index 0000000..54a59c2 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/encoders.hpp @@ -0,0 +1,94 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_ENCODERS_HPP +#define PHIDGETS_API_ENCODERS_HPP + +#include +#include +#include + +#include "phidgets_api/encoder.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Encoders final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Encoders) + + explicit Encoders( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function position_change_handler); + + ~Encoders() = default; + + int32_t getSerialNumber() const noexcept; + + /**@brief Gets the number of encoder input channels supported by this board + */ + uint32_t getEncoderCount() const; + + /** @brief Reads the current position of an encoder + * @param index The index of the encoder to read */ + int64_t getPosition(int index) const; + + /** @brief Sets the offset of an encoder such that current position is the + * specified value + * @param index The index of the encoder to set + * @param position The new value that should be returned by + * 'getPosition(index)' at the current position of the encoder*/ + void setPosition(int index, int64_t position) const; + + /** @brief Gets the position of an encoder the last time an index pulse + * occured. An index pulse in this context refers to an input from the + * encoder the pulses high once every revolution. + * @param index The index of the encoder to read */ + int64_t getIndexPosition(int index) const; + + /** @brief Checks if an encoder is powered on and receiving events + * @param index The index of the encoder to check */ + bool getEnabled(int index) const; + + /** @brief Set the powered state of an encoder. If an encoder is not + * enabled, it will not be given power, and events and changes in position + * will not be captured. + * @param index The index of the encoder to change + * @param enabled The new powered state of the encoder*/ + void setEnabled(int index, bool enabled) const; + + private: + uint32_t encoder_count_{0}; + std::vector> encs_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_ENCODERS_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/gyroscope.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/gyroscope.hpp new file mode 100644 index 0000000..b0326a9 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/gyroscope.hpp @@ -0,0 +1,74 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_GYROSCOPE_HPP +#define PHIDGETS_API_GYROSCOPE_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Gyroscope final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Gyroscope) + + explicit Gyroscope( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function data_handler); + + ~Gyroscope(); + + int32_t getSerialNumber() const noexcept; + + void getAngularRate(double &x, double &y, double &z, + double ×tamp) const; + + void setDataInterval(uint32_t interval_ms) const; + + void zero() const; + + void dataHandler(const double angular_rate[3], double timestamp) const; + + private: + int32_t serial_number_; + std::function data_handler_; + PhidgetGyroscopeHandle gyro_handle_{nullptr}; + + static void DataHandler(PhidgetGyroscopeHandle input_handle, void *ctx, + const double angular_rate[3], double timestamp); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_GYROSCOPE_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/ir.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/ir.hpp new file mode 100644 index 0000000..050af4b --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/ir.hpp @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_IR_HPP +#define PHIDGETS_API_IR_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class IR final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(IR) + + explicit IR(int32_t serial_number, + std::function code_handler); + + ~IR(); + + int32_t getSerialNumber() const noexcept; + + void codeHandler(const char *code, uint32_t bit_count, int is_repeat) const; + + private: + int32_t serial_number_; + std::function code_handler_; + PhidgetIRHandle ir_handle_{nullptr}; + + static void CodeHandler(PhidgetIRHandle ir, void *ctx, const char *code, + uint32_t bit_count, int is_repeat); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_IR_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/magnetometer.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/magnetometer.hpp new file mode 100644 index 0000000..f13684a --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/magnetometer.hpp @@ -0,0 +1,80 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_MAGNETOMETER_HPP +#define PHIDGETS_API_MAGNETOMETER_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Magnetometer final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Magnetometer) + + explicit Magnetometer( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function data_handler); + + ~Magnetometer(); + + int32_t getSerialNumber() const noexcept; + + void setCompassCorrectionParameters(double cc_mag_field, double cc_offset0, + double cc_offset1, double cc_offset2, + double cc_gain0, double cc_gain1, + double cc_gain2, double cc_T0, + double cc_T1, double cc_T2, + double cc_T3, double cc_T4, + double cc_T5); + + void getMagneticField(double &x, double &y, double &z, + double ×tamp) const; + + void setDataInterval(uint32_t interval_ms) const; + + void dataHandler(const double magnetic_field[3], double timestamp) const; + + private: + int32_t serial_number_; + std::function data_handler_; + PhidgetMagnetometerHandle mag_handle_{nullptr}; + + static void DataHandler(PhidgetMagnetometerHandle input_handle, void *ctx, + const double magnetic_field[3], double timestamp); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_MAGNETOMETER_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motor.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motor.hpp new file mode 100644 index 0000000..aab3ad5 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motor.hpp @@ -0,0 +1,86 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_MOTOR_HPP +#define PHIDGETS_API_MOTOR_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Motor final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Motor) + + explicit Motor(int32_t serial_number, int hub_port, bool is_hub_port_device, + int channel, + std::function duty_cycle_change_handler, + std::function back_emf_change_handler); + + ~Motor(); + + int32_t getSerialNumber() const noexcept; + + double getDutyCycle() const; + void setDutyCycle(double duty_cycle) const; + double getAcceleration() const; + void setAcceleration(double acceleration) const; + bool backEMFSensingSupported() const; + double getBackEMF() const; + void setDataInterval(uint32_t data_interval_ms) const; + + double getBraking() const; + void setBraking(double braking) const; + + void dutyCycleChangeHandler(double duty_cycle) const; + + void backEMFChangeHandler(double back_emf) const; + + private: + int32_t serial_number_; + int channel_; + std::function duty_cycle_change_handler_; + std::function back_emf_change_handler_; + PhidgetDCMotorHandle motor_handle_{nullptr}; + bool back_emf_sensing_supported_; + + static void DutyCycleChangeHandler(PhidgetDCMotorHandle motor_handle, + void *ctx, double duty_cycle); + static void BackEMFChangeHandler(PhidgetDCMotorHandle motor_handle, + void *ctx, double back_emf); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_MOTOR_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motors.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motors.hpp new file mode 100644 index 0000000..c7a450d --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/motors.hpp @@ -0,0 +1,75 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_MOTORS_HPP +#define PHIDGETS_API_MOTORS_HPP + +#include +#include +#include + +#include "phidgets_api/motor.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Motors final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Motors) + + explicit Motors(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function duty_cycle_change_handler, + std::function back_emf_change_handler); + + ~Motors() = default; + + int32_t getSerialNumber() const noexcept; + + uint32_t getMotorCount() const noexcept; + double getDutyCycle(int index) const; + void setDutyCycle(int index, double duty_cycle) const; + double getAcceleration(int index) const; + void setAcceleration(int index, double acceleration) const; + bool backEMFSensingSupported(int index) const; + double getBackEMF(int index) const; + void setDataInterval(int index, uint32_t data_interval_ms) const; + + double getBraking(int index) const; + void setBraking(int index, double braking) const; + + private: + uint32_t motor_count_{0}; + std::vector> motors_; +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_MOTORS_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/phidget22.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/phidget22.hpp new file mode 100644 index 0000000..7c31a26 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/phidget22.hpp @@ -0,0 +1,67 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_PHIDGET22_HPP +#define PHIDGETS_API_PHIDGET22_HPP + +#include +#include + +#include + +#define PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Classname) \ + Classname(const Classname &) = delete; \ + void operator=(const Classname &) = delete; \ + Classname(Classname &&) = delete; \ + void operator=(Classname &&) = delete; + +namespace phidgets { + +class Phidget22Error final : public std::exception +{ + public: + explicit Phidget22Error(const std::string &msg, PhidgetReturnCode code); + + const char *what() const noexcept override; + + private: + std::string msg_; +}; + +namespace helpers { + +void openWaitForAttachment(PhidgetHandle handle, int32_t serial_number, + int hub_port, bool is_hub_port_device, int channel); + +void closeAndDelete(PhidgetHandle *handle) noexcept; + +} // namespace helpers +} // namespace phidgets + +#endif // PHIDGETS_API_PHIDGET22_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/spatial.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/spatial.hpp new file mode 100644 index 0000000..ffb1302 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/spatial.hpp @@ -0,0 +1,118 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_SPATIAL_HPP +#define PHIDGETS_API_SPATIAL_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +class Spatial final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Spatial) + + explicit Spatial( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function + data_handler, + std::function algorithm_data_handler, + std::function attach_handler = nullptr, + std::function detach_handler = nullptr); + + ~Spatial(); + + int32_t getSerialNumber() const noexcept; + + void setCompassCorrectionParameters(double cc_mag_field, double cc_offset0, + double cc_offset1, double cc_offset2, + double cc_gain0, double cc_gain1, + double cc_gain2, double cc_T0, + double cc_T1, double cc_T2, + double cc_T3, double cc_T4, + double cc_T5); + + void setSpatialAlgorithm(const std::string algorithm); + + void setAHRSParameters(double angularVelocityThreshold, + double angularVelocityDeltaThreshold, + double accelerationThreshold, double magTime, + double accelTime, double biasTime); + + void setAlgorithmMagnetometerGain(double magnetometer_gain); + + void setHeatingEnabled(bool heating_enabled); + + void setDataInterval(uint32_t interval_ms) const; + + void zero() const; + + void dataHandler(const double acceleration[3], const double angular_rate[3], + const double magnetic_field[3], double timestamp) const; + + void algorithmDataHandler(const double quaternion[4], + double timestamp) const; + + virtual void attachHandler(); + virtual void detachHandler(); + + private: + int32_t serial_number_; + std::function + data_handler_; + + std::function + algorithm_data_handler_; + + std::function attach_handler_; + std::function detach_handler_; + + PhidgetSpatialHandle spatial_handle_{nullptr}; + + static void DataHandler(PhidgetSpatialHandle input_handle, void *ctx, + const double acceleration[3], + const double angular_rate[3], + const double magnetic_field[3], double timestamp); + static void AlgorithmDataHandler(PhidgetSpatialHandle input_handle, + void *ctx, const double quaternion[4], + double timestamp); + static void AttachHandler(PhidgetHandle input_handle, void *ctx); + static void DetachHandler(PhidgetHandle input_handle, void *ctx); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_SPATIAL_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/temperature.hpp b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/temperature.hpp new file mode 100644 index 0000000..5d20404 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/include/phidgets_api/temperature.hpp @@ -0,0 +1,81 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_API_TEMPERATURE_HPP +#define PHIDGETS_API_TEMPERATURE_HPP + +#include + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +enum class ThermocoupleType { + J_TYPE = 1, + K_TYPE = 2, + E_TYPE = 3, + T_TYPE = 4, +}; + +class Temperature final +{ + public: + PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Temperature) + + explicit Temperature(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function temperature_handler); + + ~Temperature(); + + int32_t getSerialNumber() const noexcept; + + void setThermocoupleType(ThermocoupleType type); + + double getTemperature() const; + + void setDataInterval(uint32_t interval_ms) const; + + void temperatureChangeHandler(double temperature) const; + + private: + int32_t serial_number_; + std::function temperature_handler_; + PhidgetTemperatureSensorHandle temperature_handle_{nullptr}; + + static void TemperatureChangeHandler( + PhidgetTemperatureSensorHandle temperature_handle, void *ctx, + double temperature); +}; + +} // namespace phidgets + +#endif // PHIDGETS_API_TEMPERATURE_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/package.xml b/docker/local-ros2/phidgets_drivers/phidgets_api/package.xml new file mode 100644 index 0000000..c1c096d --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/package.xml @@ -0,0 +1,26 @@ + + + phidgets_api + 2.3.3 + A C++ Wrapper for the Phidgets C API + + Martin Günther + Chris Lalancette + + BSD + + http://ros.org/wiki/phidgets_api + https://github.com/ros-drivers/phidgets_drivers.git + https://github.com/ros-drivers/phidgets_drivers/issues + + Tully Foote + Ivan Dryanovski + + ament_cmake_ros + + libphidget22 + + + ament_cmake + + diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/accelerometer.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/accelerometer.cpp new file mode 100644 index 0000000..869c498 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/accelerometer.cpp @@ -0,0 +1,137 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include + +#include + +#include "phidgets_api/accelerometer.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Accelerometer::Accelerometer( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function data_handler) + : serial_number_(serial_number), data_handler_(data_handler) +{ + PhidgetReturnCode ret = PhidgetAccelerometer_create(&accel_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create Accelerometer handle", ret); + } + + helpers::openWaitForAttachment( + reinterpret_cast(accel_handle_), serial_number, hub_port, + is_hub_port_device, 0); + + ret = PhidgetAccelerometer_setOnAccelerationChangeHandler( + accel_handle_, DataHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set change handler for acceleration", + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(accel_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get serial number for acceleration", + ret); + } + } +} + +Accelerometer::~Accelerometer() +{ + PhidgetHandle handle = reinterpret_cast(accel_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Accelerometer::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void Accelerometer::getAcceleration(double &x, double &y, double &z, + double ×tamp) const +{ + double accel[3]; + PhidgetReturnCode ret = + PhidgetAccelerometer_getAcceleration(accel_handle_, &accel); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get acceleration", ret); + } + + x = accel[0]; + y = accel[1]; + z = accel[2]; + + double ts; + ret = PhidgetAccelerometer_getTimestamp(accel_handle_, &ts); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get acceleration timestamp", ret); + } + + timestamp = ts; +} + +void Accelerometer::setDataInterval(uint32_t interval_ms) const +{ + PhidgetReturnCode ret = + PhidgetAccelerometer_setDataInterval(accel_handle_, interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set data interval", ret); + } +} + +void Accelerometer::dataHandler(const double acceleration[3], + double timestamp) const +{ + data_handler_(acceleration, timestamp); +} + +void Accelerometer::DataHandler(PhidgetAccelerometerHandle /* input_handle */, + void *ctx, const double acceleration[3], + double timestamp) +{ + (reinterpret_cast(ctx)) + ->dataHandler(acceleration, timestamp); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_input.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_input.cpp new file mode 100644 index 0000000..4298bce --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_input.cpp @@ -0,0 +1,142 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include + +#include + +#include "phidgets_api/analog_input.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +AnalogInput::AnalogInput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel, + std::function input_handler) + : serial_number_(serial_number), + channel_(channel), + input_handler_(input_handler) +{ + PhidgetReturnCode ret = PhidgetVoltageInput_create(&ai_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create AnalogInput handle for channel " + + std::to_string(channel), + ret); + } + + helpers::openWaitForAttachment(reinterpret_cast(ai_handle_), + serial_number, hub_port, is_hub_port_device, + channel); + + if (!is_hub_port_device) + { + ret = + PhidgetVoltageInput_setVoltageRange(ai_handle_, VOLTAGE_RANGE_AUTO); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set analog input voltage range", + ret); + } + } + + ret = PhidgetVoltageInput_setOnVoltageChangeHandler( + ai_handle_, VoltageChangeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to set change handler for AnalogInput channel " + + std::to_string(channel), + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(ai_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get serial number for analog input channel " + + std::to_string(channel), + ret); + } + } +} + +AnalogInput::~AnalogInput() +{ + PhidgetHandle handle = reinterpret_cast(ai_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t AnalogInput::getSerialNumber() const noexcept +{ + return serial_number_; +} + +double AnalogInput::getSensorValue() const +{ + double sensor_value; + PhidgetReturnCode ret = + PhidgetVoltageInput_getSensorValue(ai_handle_, &sensor_value); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get analog sensor value", ret); + } + + return sensor_value; +} + +void AnalogInput::setDataInterval(uint32_t data_interval_ms) const +{ + PhidgetReturnCode ret = + PhidgetVoltageInput_setDataInterval(ai_handle_, data_interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set analog data interval", ret); + } +} + +void AnalogInput::voltageChangeHandler(double sensorValue) const +{ + input_handler_(channel_, sensorValue); +} + +void AnalogInput::VoltageChangeHandler( + PhidgetVoltageInputHandle /* input_handle */, void *ctx, double sensorValue) +{ + (reinterpret_cast(ctx))->voltageChangeHandler(sensorValue); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_inputs.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_inputs.cpp new file mode 100644 index 0000000..a730b39 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_inputs.cpp @@ -0,0 +1,104 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include + +#include + +#include "phidgets_api/analog_input.hpp" +#include "phidgets_api/analog_inputs.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +AnalogInputs::AnalogInputs(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function input_handler) +{ + PhidgetReturnCode ret; + + PhidgetVoltageInputHandle ai_handle; + + ret = PhidgetVoltageInput_create(&ai_handle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create AnalogInput handle for determining channel " + "count", + ret); + } + + PhidgetHandle handle = reinterpret_cast(ai_handle); + + helpers::openWaitForAttachment(handle, serial_number, hub_port, + is_hub_port_device, 0); + + ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_VOLTAGEINPUT, + &input_count_); + + helpers::closeAndDelete(&handle); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get AnalogInput device channel count", + ret); + } + + ais_.resize(input_count_); + for (uint32_t i = 0; i < input_count_; ++i) + { + ais_[i] = std::make_unique( + serial_number, hub_port, is_hub_port_device, i, input_handler); + } +} + +int32_t AnalogInputs::getSerialNumber() const noexcept +{ + return ais_.at(0)->getSerialNumber(); +} + +uint32_t AnalogInputs::getInputCount() const noexcept +{ + return input_count_; +} + +double AnalogInputs::getSensorValue(int index) const +{ + return ais_.at(index)->getSensorValue(); +} + +void AnalogInputs::setDataInterval(int index, uint32_t data_interval_ms) const +{ + ais_.at(index)->setDataInterval(data_interval_ms); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_output.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_output.cpp new file mode 100644 index 0000000..6e1619f --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_output.cpp @@ -0,0 +1,85 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/analog_output.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +AnalogOutput::AnalogOutput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel) +{ + PhidgetReturnCode ret; + ret = PhidgetVoltageOutput_create(&ao_handle_); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create AnalogOutput handle for channel " + + std::to_string(channel), + ret); + } + + helpers::openWaitForAttachment(reinterpret_cast(ao_handle_), + serial_number, hub_port, is_hub_port_device, + channel); +} + +AnalogOutput::~AnalogOutput() +{ + PhidgetHandle handle = reinterpret_cast(ao_handle_); + helpers::closeAndDelete(&handle); +} + +void AnalogOutput::setOutputVoltage(double voltage) const +{ + PhidgetReturnCode ret = + PhidgetVoltageOutput_setVoltage(ao_handle_, voltage); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set analog output voltage", ret); + } +} + +void AnalogOutput::setEnabledOutput(int enabled) const +{ + PhidgetReturnCode ret = + PhidgetVoltageOutput_setEnabled(ao_handle_, enabled); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set analog output enabled", ret); + } +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_outputs.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_outputs.cpp new file mode 100644 index 0000000..bb5cc89 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/analog_outputs.cpp @@ -0,0 +1,99 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include + +#include "phidgets_api/analog_output.hpp" +#include "phidgets_api/analog_outputs.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +AnalogOutputs::AnalogOutputs(int32_t serial_number, int hub_port, + bool is_hub_port_device) +{ + PhidgetReturnCode ret; + + PhidgetVoltageOutputHandle ao_handle; + + ret = PhidgetVoltageOutput_create(&ao_handle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create AnalogOutput handle for determining channel " + "count", + ret); + } + + PhidgetHandle handle = reinterpret_cast(ao_handle); + + helpers::openWaitForAttachment(handle, serial_number, hub_port, + is_hub_port_device, 0); + + ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_VOLTAGEOUTPUT, + &output_count_); + + helpers::closeAndDelete(&handle); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get AnalogOutput device channel count", + ret); + } + + aos_.resize(output_count_); + for (uint32_t i = 0; i < output_count_; ++i) + { + aos_[i] = std::make_unique(serial_number, hub_port, + is_hub_port_device, i); + } +} + +AnalogOutputs::~AnalogOutputs() +{ +} + +uint32_t AnalogOutputs::getOutputCount() const noexcept +{ + return output_count_; +} + +void AnalogOutputs::setOutputVoltage(int index, double voltage) const +{ + aos_.at(index)->setOutputVoltage(voltage); +} + +void AnalogOutputs::setEnabledOutput(int index, int enabled) const +{ + aos_.at(index)->setEnabledOutput(enabled); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_input.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_input.cpp new file mode 100644 index 0000000..323cde3 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_input.cpp @@ -0,0 +1,118 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/digital_input.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +DigitalInput::DigitalInput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel, + std::function input_handler) + : serial_number_(serial_number), + channel_(channel), + input_handler_(input_handler) +{ + PhidgetReturnCode ret = PhidgetDigitalInput_create(&di_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create DigitalInput handle for channel " + + std::to_string(channel), + ret); + } + + helpers::openWaitForAttachment(reinterpret_cast(di_handle_), + serial_number, hub_port, is_hub_port_device, + channel); + + ret = PhidgetDigitalInput_setOnStateChangeHandler(di_handle_, + StateChangeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to set change handler for DigitalInput channel " + + std::to_string(channel), + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(di_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get serial number for digital input channel " + + std::to_string(channel), + ret); + } + } +} + +DigitalInput::~DigitalInput() +{ + PhidgetHandle handle = reinterpret_cast(di_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t DigitalInput::getSerialNumber() const noexcept +{ + return serial_number_; +} + +bool DigitalInput::getInputValue() const +{ + int state; + PhidgetReturnCode ret = PhidgetDigitalInput_getState(di_handle_, &state); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get digital input state", ret); + } + + return !!state; +} + +void DigitalInput::stateChangeHandler(int state) const +{ + input_handler_(channel_, state); +} + +void DigitalInput::StateChangeHandler( + PhidgetDigitalInputHandle /* input_handle */, void *ctx, int state) +{ + (reinterpret_cast(ctx))->stateChangeHandler(state); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_inputs.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_inputs.cpp new file mode 100644 index 0000000..fd404aa --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_inputs.cpp @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/digital_input.hpp" +#include "phidgets_api/digital_inputs.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +DigitalInputs::DigitalInputs(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function input_handler) +{ + PhidgetReturnCode ret; + + PhidgetDigitalInputHandle di_handle; + + ret = PhidgetDigitalInput_create(&di_handle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create DigitalInput handle for determining channel " + "count", + ret); + } + + PhidgetHandle handle = reinterpret_cast(di_handle); + + helpers::openWaitForAttachment(handle, serial_number, hub_port, + is_hub_port_device, 0); + + ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_DIGITALINPUT, + &input_count_); + + helpers::closeAndDelete(&handle); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get DigitalInput device channel count", + ret); + } + + dis_.resize(input_count_); + for (uint32_t i = 0; i < input_count_; ++i) + { + dis_[i] = std::make_unique( + serial_number, hub_port, is_hub_port_device, i, input_handler); + } +} + +int32_t DigitalInputs::getSerialNumber() const noexcept +{ + return dis_.at(0)->getSerialNumber(); +} + +uint32_t DigitalInputs::getInputCount() const noexcept +{ + return input_count_; +} + +bool DigitalInputs::getInputValue(int index) const +{ + return dis_.at(index)->getInputValue(); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_output.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_output.cpp new file mode 100644 index 0000000..48daf40 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_output.cpp @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/digital_output.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +DigitalOutput::DigitalOutput(int32_t serial_number, int hub_port, + bool is_hub_port_device, int channel) + : serial_number_(serial_number) +{ + PhidgetReturnCode ret; + + ret = PhidgetDigitalOutput_create(&do_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create DigitalOutput handle for channel " + + std::to_string(channel), + ret); + } + + helpers::openWaitForAttachment(reinterpret_cast(do_handle_), + serial_number, hub_port, is_hub_port_device, + channel); + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(do_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get serial number for digital output channel " + + std::to_string(channel), + ret); + } + } +} + +DigitalOutput::~DigitalOutput() +{ + PhidgetHandle handle = reinterpret_cast(do_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t DigitalOutput::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void DigitalOutput::setOutputState(bool state) const +{ + PhidgetReturnCode ret = PhidgetDigitalOutput_setState(do_handle_, state); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set state for DigitalOutput", ret); + } +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_outputs.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_outputs.cpp new file mode 100644 index 0000000..5f96ebd --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/digital_outputs.cpp @@ -0,0 +1,96 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/digital_output.hpp" +#include "phidgets_api/digital_outputs.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +DigitalOutputs::DigitalOutputs(int32_t serial_number, int hub_port, + bool is_hub_port_device) +{ + PhidgetReturnCode ret; + + PhidgetDigitalOutputHandle do_handle; + + ret = PhidgetDigitalOutput_create(&do_handle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create DigitalOutput handle for determining channel " + "count", + ret); + } + + PhidgetHandle handle = reinterpret_cast(do_handle); + + helpers::openWaitForAttachment(handle, serial_number, hub_port, + is_hub_port_device, 0); + + ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_DIGITALOUTPUT, + &output_count_); + + helpers::closeAndDelete(&handle); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get DigitalOutput device channel count", + ret); + } + + dos_.resize(output_count_); + for (uint32_t i = 0; i < output_count_; ++i) + { + dos_[i] = std::make_unique(serial_number, hub_port, + is_hub_port_device, i); + } +} + +int32_t DigitalOutputs::getSerialNumber() const noexcept +{ + return dos_.at(0)->getSerialNumber(); +} + +uint32_t DigitalOutputs::getOutputCount() const noexcept +{ + return output_count_; +} + +void DigitalOutputs::setOutputState(int index, bool state) const +{ + dos_.at(index)->setOutputState(state); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/encoder.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/encoder.cpp new file mode 100644 index 0000000..31731a5 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/encoder.cpp @@ -0,0 +1,176 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include + +#include "phidgets_api/encoder.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Encoder::Encoder( + int32_t serial_number, int hub_port, bool is_hub_port_device, int channel, + std::function position_change_handler) + : serial_number_(serial_number), + channel_(channel), + position_change_handler_(position_change_handler) +{ + // create the handle + PhidgetReturnCode ret = PhidgetEncoder_create(&encoder_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create Encoder handle", ret); + } + + helpers::openWaitForAttachment( + reinterpret_cast(encoder_handle_), serial_number, + hub_port, is_hub_port_device, channel); + + ret = PhidgetEncoder_setOnPositionChangeHandler( + encoder_handle_, PositionChangeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to set change handler for Encoder channel " + + std::to_string(channel), + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(encoder_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get serial number for encoder channel " + + std::to_string(channel), + ret); + } + } +} + +Encoder::~Encoder() +{ + PhidgetHandle handle = reinterpret_cast(encoder_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Encoder::getSerialNumber() const noexcept +{ + return serial_number_; +} + +int64_t Encoder::getPosition() const +{ + int64_t position; + PhidgetReturnCode ret = + PhidgetEncoder_getPosition(encoder_handle_, &position); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get position for Encoder channel " + + std::to_string(channel_), + ret); + } + + return position; +} + +void Encoder::setPosition(int64_t position) const +{ + PhidgetReturnCode ret = + PhidgetEncoder_setPosition(encoder_handle_, position); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set position for Encoder channel " + + std::to_string(channel_), + ret); + } +} + +int64_t Encoder::getIndexPosition() const +{ + int64_t position; + PhidgetReturnCode ret = + PhidgetEncoder_getIndexPosition(encoder_handle_, &position); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get index position for Encoder channel " + + std::to_string(channel_), + ret); + } + + return position; +} + +bool Encoder::getEnabled() const +{ + int enabled; + PhidgetReturnCode ret = + PhidgetEncoder_getEnabled(encoder_handle_, &enabled); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get enabled for Encoder channel " + + std::to_string(channel_), + ret); + } + + return enabled == PTRUE; +} + +void Encoder::setEnabled(bool enabled) const +{ + PhidgetReturnCode ret = + PhidgetEncoder_setEnabled(encoder_handle_, enabled ? PTRUE : PFALSE); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set enabled for Encoder channel " + + std::to_string(channel_), + ret); + } +} + +void Encoder::positionChangeHandler(int position_change, double time, + int index_triggered) +{ + position_change_handler_(channel_, position_change, time, index_triggered); +} + +void Encoder::PositionChangeHandler(PhidgetEncoderHandle /* phid */, void *ctx, + int position_change, double time, + int index_triggered) +{ + (reinterpret_cast(ctx)) + ->positionChangeHandler(position_change, time, index_triggered); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/encoders.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/encoders.cpp new file mode 100644 index 0000000..548c472 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/encoders.cpp @@ -0,0 +1,116 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include + +#include "phidgets_api/encoder.hpp" +#include "phidgets_api/encoders.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Encoders::Encoders( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function position_change_handler) +{ + PhidgetReturnCode ret; + + PhidgetEncoderHandle enc_handle; + + ret = PhidgetEncoder_create(&enc_handle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create Encoder handle for determining channel " + "count", + ret); + } + + PhidgetHandle handle = reinterpret_cast(enc_handle); + + helpers::openWaitForAttachment(handle, serial_number, hub_port, + is_hub_port_device, 0); + + ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_ENCODER, + &encoder_count_); + + helpers::closeAndDelete(&handle); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get Encoder device channel count", ret); + } + + encs_.resize(encoder_count_); + for (uint32_t i = 0; i < encoder_count_; ++i) + { + encs_[i] = std::make_unique(serial_number, hub_port, + is_hub_port_device, i, + position_change_handler); + } +} + +int32_t Encoders::getSerialNumber() const noexcept +{ + return encs_.at(0)->getSerialNumber(); +} + +uint32_t Encoders::getEncoderCount() const +{ + return encoder_count_; +} + +int64_t Encoders::getPosition(int index) const +{ + return encs_.at(index)->getPosition(); +} + +void Encoders::setPosition(int index, int64_t position) const +{ + return encs_.at(index)->setPosition(position); +} + +int64_t Encoders::getIndexPosition(int index) const +{ + return encs_.at(index)->getIndexPosition(); +} + +bool Encoders::getEnabled(int index) const +{ + return encs_.at(index)->getEnabled(); +} + +void Encoders::setEnabled(int index, bool enabled) const +{ + return encs_.at(index)->setEnabled(enabled); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/gyroscope.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/gyroscope.cpp new file mode 100644 index 0000000..5fca8a9 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/gyroscope.cpp @@ -0,0 +1,144 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include + +#include + +#include "phidgets_api/gyroscope.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Gyroscope::Gyroscope(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function data_handler) + : serial_number_(serial_number), data_handler_(data_handler) +{ + PhidgetReturnCode ret = PhidgetGyroscope_create(&gyro_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create Gyroscope handle", ret); + } + + helpers::openWaitForAttachment( + reinterpret_cast(gyro_handle_), serial_number, hub_port, + is_hub_port_device, 0); + + ret = PhidgetGyroscope_setOnAngularRateUpdateHandler(gyro_handle_, + DataHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set Gyroscope update handler", ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(gyro_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get serial number for gyroscope", + ret); + } + } +} + +Gyroscope::~Gyroscope() +{ + PhidgetHandle handle = reinterpret_cast(gyro_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Gyroscope::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void Gyroscope::zero() const +{ + PhidgetReturnCode ret = PhidgetGyroscope_zero(gyro_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to calibrate Gyroscope", ret); + } +} + +void Gyroscope::getAngularRate(double &x, double &y, double &z, + double ×tamp) const +{ + double angular_rate[3]; + PhidgetReturnCode ret = + PhidgetGyroscope_getAngularRate(gyro_handle_, &angular_rate); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get angular rate from gyroscope", ret); + } + + x = angular_rate[0]; + y = angular_rate[1]; + z = angular_rate[2]; + + double ts; + ret = PhidgetGyroscope_getTimestamp(gyro_handle_, &ts); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get timestamp from gyroscope", ret); + } + + timestamp = ts; +} + +void Gyroscope::setDataInterval(uint32_t interval_ms) const +{ + PhidgetReturnCode ret = + PhidgetGyroscope_setDataInterval(gyro_handle_, interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set data interval", ret); + } +} + +void Gyroscope::dataHandler(const double angular_rate[3], + double timestamp) const +{ + data_handler_(angular_rate, timestamp); +} + +void Gyroscope::DataHandler(PhidgetGyroscopeHandle /* input_handle */, + void *ctx, const double angular_rate[3], + double timestamp) +{ + (reinterpret_cast(ctx))->dataHandler(angular_rate, timestamp); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/ir.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/ir.cpp new file mode 100644 index 0000000..f80c0f3 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/ir.cpp @@ -0,0 +1,93 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include + +#include "phidgets_api/ir.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +IR::IR(int32_t serial_number, + std::function code_handler) + : serial_number_(serial_number), code_handler_(code_handler) +{ + // create the handle + PhidgetReturnCode ret = PhidgetIR_create(&ir_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create IR handle", ret); + } + + helpers::openWaitForAttachment(reinterpret_cast(ir_handle_), + serial_number, 0, false, 0); + + // register ir data callback + ret = PhidgetIR_setOnCodeHandler(ir_handle_, CodeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set code handler for ir", ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(ir_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get serial number for IR", ret); + } + } +} + +IR::~IR() +{ + PhidgetHandle handle = reinterpret_cast(ir_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t IR::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void IR::codeHandler(const char *code, uint32_t bit_count, int is_repeat) const +{ + code_handler_(code, bit_count, is_repeat); +} + +void IR::CodeHandler(PhidgetIRHandle /* ir */, void *ctx, const char *code, + uint32_t bit_count, int is_repeat) +{ + (reinterpret_cast(ctx))->codeHandler(code, bit_count, is_repeat); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/magnetometer.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/magnetometer.cpp new file mode 100644 index 0000000..69fcb89 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/magnetometer.cpp @@ -0,0 +1,153 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include + +#include + +#include "phidgets_api/magnetometer.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Magnetometer::Magnetometer( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function data_handler) + : serial_number_(serial_number), data_handler_(data_handler) +{ + PhidgetReturnCode ret = PhidgetMagnetometer_create(&mag_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create Magnetometer handle", ret); + } + + helpers::openWaitForAttachment(reinterpret_cast(mag_handle_), + serial_number, hub_port, is_hub_port_device, + 0); + + ret = PhidgetMagnetometer_setOnMagneticFieldChangeHandler( + mag_handle_, DataHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set change handler for Magnetometer", + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(mag_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get serial number for magnetometer", + ret); + } + } +} + +Magnetometer::~Magnetometer() +{ + PhidgetHandle handle = reinterpret_cast(mag_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Magnetometer::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void Magnetometer::setCompassCorrectionParameters( + double cc_mag_field, double cc_offset0, double cc_offset1, + double cc_offset2, double cc_gain0, double cc_gain1, double cc_gain2, + double cc_T0, double cc_T1, double cc_T2, double cc_T3, double cc_T4, + double cc_T5) +{ + PhidgetReturnCode ret = PhidgetMagnetometer_setCorrectionParameters( + mag_handle_, cc_mag_field, cc_offset0, cc_offset1, cc_offset2, cc_gain0, + cc_gain1, cc_gain2, cc_T0, cc_T1, cc_T2, cc_T3, cc_T4, cc_T5); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set magnetometer correction parameters", + ret); + } +} + +void Magnetometer::getMagneticField(double &x, double &y, double &z, + double ×tamp) const +{ + double mag_field[3]; + PhidgetReturnCode ret = + PhidgetMagnetometer_getMagneticField(mag_handle_, &mag_field); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get magnetic field", ret); + } + + x = mag_field[0]; + y = mag_field[1]; + z = mag_field[2]; + + double ts; + ret = PhidgetMagnetometer_getTimestamp(mag_handle_, &ts); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get magnetic field timestamp", ret); + } + + timestamp = ts; +} + +void Magnetometer::setDataInterval(uint32_t interval_ms) const +{ + PhidgetReturnCode ret = + PhidgetMagnetometer_setDataInterval(mag_handle_, interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set data interval", ret); + } +} + +void Magnetometer::dataHandler(const double magnetic_field[3], + double timestamp) const +{ + data_handler_(magnetic_field, timestamp); +} + +void Magnetometer::DataHandler(PhidgetMagnetometerHandle /* input_handle */, + void *ctx, const double magnetic_field[3], + double timestamp) +{ + (reinterpret_cast(ctx)) + ->dataHandler(magnetic_field, timestamp); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/motor.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/motor.cpp new file mode 100644 index 0000000..3b14270 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/motor.cpp @@ -0,0 +1,257 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/motor.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Motor::Motor(int32_t serial_number, int hub_port, bool is_hub_port_device, + int channel, + std::function duty_cycle_change_handler, + std::function back_emf_change_handler) + : serial_number_(serial_number), + channel_(channel), + duty_cycle_change_handler_(duty_cycle_change_handler), + back_emf_change_handler_(back_emf_change_handler) +{ + PhidgetReturnCode ret = PhidgetDCMotor_create(&motor_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create Motor handle for channel " + + std::to_string(channel), + ret); + } + + helpers::openWaitForAttachment( + reinterpret_cast(motor_handle_), serial_number, hub_port, + is_hub_port_device, channel); + + ret = PhidgetDCMotor_setOnVelocityUpdateHandler( + motor_handle_, DutyCycleChangeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to set duty cycle update handler for Motor channel " + + std::to_string(channel), + ret); + } + + back_emf_sensing_supported_ = true; + ret = PhidgetDCMotor_setBackEMFSensingState(motor_handle_, 1); + if (ret == EPHIDGET_UNSUPPORTED) + { + back_emf_sensing_supported_ = false; + } else if (ret == EPHIDGET_OK) + { + ret = PhidgetDCMotor_setOnBackEMFChangeHandler( + motor_handle_, BackEMFChangeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to set back EMF update handler for Motor channel " + + std::to_string(channel), + ret); + } + } else + { + throw Phidget22Error( + "Failed to set back EMF sensing state Motor channel " + + std::to_string(channel), + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(motor_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get serial number for motor channel " + + std::to_string(channel), + ret); + } + } +} + +Motor::~Motor() +{ + PhidgetHandle handle = reinterpret_cast(motor_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Motor::getSerialNumber() const noexcept +{ + return serial_number_; +} + +double Motor::getDutyCycle() const +{ + double duty_cycle; + PhidgetReturnCode ret = + PhidgetDCMotor_getVelocity(motor_handle_, &duty_cycle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get duty cycle for Motor channel " + + std::to_string(channel_), + ret); + } + return duty_cycle; +} + +void Motor::setDutyCycle(double duty_cycle) const +{ + PhidgetReturnCode ret = + PhidgetDCMotor_setTargetVelocity(motor_handle_, duty_cycle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set duty cycle for Motor channel " + + std::to_string(channel_), + ret); + } +} + +double Motor::getAcceleration() const +{ + double accel; + PhidgetReturnCode ret = + PhidgetDCMotor_getAcceleration(motor_handle_, &accel); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get acceleration for Motor channel " + + std::to_string(channel_), + ret); + } + return accel; +} + +void Motor::setAcceleration(double acceleration) const +{ + PhidgetReturnCode ret = + PhidgetDCMotor_setAcceleration(motor_handle_, acceleration); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set acceleration for Motor channel " + + std::to_string(channel_), + ret); + } +} + +bool Motor::backEMFSensingSupported() const +{ + return back_emf_sensing_supported_; +} + +double Motor::getBackEMF() const +{ + if (!back_emf_sensing_supported_) + { + throw Phidget22Error("Back EMF sensing not supported", + EPHIDGET_UNSUPPORTED); + } + double backemf; + PhidgetReturnCode ret = PhidgetDCMotor_getBackEMF(motor_handle_, &backemf); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get back EMF for Motor channel " + + std::to_string(channel_), + ret); + } + return backemf; +} + +void Motor::setDataInterval(uint32_t data_interval_ms) const +{ + PhidgetReturnCode ret = + PhidgetDCMotor_setDataInterval(motor_handle_, data_interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set data interval for Motor channel " + + std::to_string(channel_), + ret); + } +} + +double Motor::getBraking() const +{ + double braking; + PhidgetReturnCode ret = + PhidgetDCMotor_getBrakingStrength(motor_handle_, &braking); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to get braking strength for Motor channel " + + std::to_string(channel_), + ret); + } + return braking; +} + +void Motor::setBraking(double braking) const +{ + PhidgetReturnCode ret = + PhidgetDCMotor_setTargetBrakingStrength(motor_handle_, braking); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to set braking strength for Motor channel " + + std::to_string(channel_), + ret); + } +} + +void Motor::dutyCycleChangeHandler(double duty_cycle) const +{ + duty_cycle_change_handler_(channel_, duty_cycle); +} + +void Motor::backEMFChangeHandler(double back_emf) const +{ + back_emf_change_handler_(channel_, back_emf); +} + +void Motor::DutyCycleChangeHandler(PhidgetDCMotorHandle /* motor_handle */, + void *ctx, double duty_cycle) +{ + (reinterpret_cast(ctx))->dutyCycleChangeHandler(duty_cycle); +} + +void Motor::BackEMFChangeHandler(PhidgetDCMotorHandle /* motor_handle */, + void *ctx, double back_emf) +{ + (reinterpret_cast(ctx))->backEMFChangeHandler(back_emf); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/motors.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/motors.cpp new file mode 100644 index 0000000..4cfe6ad --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/motors.cpp @@ -0,0 +1,136 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/motors.hpp" +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Motors::Motors(int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function duty_cycle_change_handler, + std::function back_emf_change_handler) +{ + PhidgetReturnCode ret; + + PhidgetDCMotorHandle motor_handle; + + ret = PhidgetDCMotor_create(&motor_handle); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error( + "Failed to create Motor handle for determining channel " + "count", + ret); + } + + PhidgetHandle handle = reinterpret_cast(motor_handle); + + helpers::openWaitForAttachment(handle, serial_number, hub_port, + is_hub_port_device, 0); + + ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_DCMOTOR, + &motor_count_); + + helpers::closeAndDelete(&handle); + + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get Motor device channel count", ret); + } + + motors_.resize(motor_count_); + for (uint32_t i = 0; i < motor_count_; ++i) + { + motors_[i] = std::make_unique( + serial_number, hub_port, is_hub_port_device, i, + duty_cycle_change_handler, back_emf_change_handler); + } +} + +int32_t Motors::getSerialNumber() const noexcept +{ + return motors_.at(0)->getSerialNumber(); +} + +uint32_t Motors::getMotorCount() const noexcept +{ + return motor_count_; +} + +double Motors::getDutyCycle(int index) const +{ + return motors_.at(index)->getDutyCycle(); +} + +void Motors::setDutyCycle(int index, double duty_cycle) const +{ + motors_.at(index)->setDutyCycle(duty_cycle); +} + +double Motors::getAcceleration(int index) const +{ + return motors_.at(index)->getAcceleration(); +} + +void Motors::setAcceleration(int index, double acceleration) const +{ + motors_.at(index)->setAcceleration(acceleration); +} + +bool Motors::backEMFSensingSupported(int index) const +{ + return motors_.at(index)->backEMFSensingSupported(); +} + +double Motors::getBackEMF(int index) const +{ + return motors_.at(index)->getBackEMF(); +} + +void Motors::setDataInterval(int index, uint32_t data_interval_ms) const +{ + motors_.at(index)->setDataInterval(data_interval_ms); +} + +double Motors::getBraking(int index) const +{ + return motors_.at(index)->getBraking(); +} + +void Motors::setBraking(int index, double braking) const +{ + motors_.at(index)->setBraking(braking); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/phidget22.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/phidget22.cpp new file mode 100644 index 0000000..243dc02 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/phidget22.cpp @@ -0,0 +1,99 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include "phidgets_api/phidget22.hpp" + +namespace phidgets { + +Phidget22Error::Phidget22Error(const std::string &msg, PhidgetReturnCode code) +{ + const char *error_ptr; + PhidgetReturnCode ret = Phidget_getErrorDescription(code, &error_ptr); + if (ret == EPHIDGET_OK) + { + msg_ = msg + ": " + std::string(error_ptr); + } else + { + msg_ = msg + ": Unknown error"; + } +} + +const char *Phidget22Error::what() const noexcept +{ + return msg_.c_str(); +} + +namespace helpers { + +void openWaitForAttachment(PhidgetHandle handle, int32_t serial_number, + int hub_port, bool is_hub_port_device, int channel) +{ + PhidgetReturnCode ret; + + ret = Phidget_setDeviceSerialNumber(handle, serial_number); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set device serial number", ret); + } + + ret = Phidget_setHubPort(handle, hub_port); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set device hub port", ret); + } + + ret = Phidget_setIsHubPortDevice(handle, is_hub_port_device); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set device is hub port device", ret); + } + + ret = Phidget_setChannel(handle, channel); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set device channel", ret); + } + + ret = Phidget_openWaitForAttachment(handle, PHIDGET_TIMEOUT_DEFAULT); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to open device", ret); + } +} + +void closeAndDelete(PhidgetHandle *handle) noexcept +{ + Phidget_close(*handle); + Phidget_delete(handle); +} + +} // namespace helpers +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/spatial.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/spatial.cpp new file mode 100644 index 0000000..a0738d6 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/spatial.cpp @@ -0,0 +1,274 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/phidget22.hpp" +#include "phidgets_api/spatial.hpp" + +namespace phidgets { + +Spatial::Spatial( + int32_t serial_number, int hub_port, bool is_hub_port_device, + std::function + data_handler, + std::function algorithm_data_handler, + std::function attach_handler, std::function detach_handler) + : serial_number_(serial_number), + data_handler_(std::move(data_handler)), + algorithm_data_handler_(std::move(algorithm_data_handler)), + attach_handler_(std::move(attach_handler)), + detach_handler_(std::move(detach_handler)) +{ + PhidgetReturnCode ret = PhidgetSpatial_create(&spatial_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create Spatial handle", ret); + } + + helpers::openWaitForAttachment( + reinterpret_cast(spatial_handle_), serial_number, + hub_port, is_hub_port_device, 0); + + ret = PhidgetSpatial_setOnSpatialDataHandler(spatial_handle_, DataHandler, + this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set change handler for Spatial", ret); + } + + if (algorithm_data_handler_ != nullptr) + { + ret = PhidgetSpatial_setOnAlgorithmDataHandler( + spatial_handle_, AlgorithmDataHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set algorithm handler for Spatial", + ret); + } + } + + if (attach_handler_ != nullptr) + { + ret = Phidget_setOnAttachHandler( + reinterpret_cast(spatial_handle_), AttachHandler, + this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set attach handler for Spatial", + ret); + } + } + + if (detach_handler_ != nullptr) + { + ret = Phidget_setOnDetachHandler( + reinterpret_cast(spatial_handle_), DetachHandler, + this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set detach handler for Spatial", + ret); + } + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(spatial_handle_), &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get serial number for spatial", + ret); + } + } +} + +Spatial::~Spatial() +{ + auto handle = reinterpret_cast(spatial_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Spatial::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void Spatial::zero() const +{ + PhidgetReturnCode ret = PhidgetSpatial_zeroGyro(spatial_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to calibrate Gyroscope", ret); + } +} + +void Spatial::setCompassCorrectionParameters( + double cc_mag_field, double cc_offset0, double cc_offset1, + double cc_offset2, double cc_gain0, double cc_gain1, double cc_gain2, + double cc_T0, double cc_T1, double cc_T2, double cc_T3, double cc_T4, + double cc_T5) +{ + PhidgetReturnCode ret = PhidgetSpatial_setMagnetometerCorrectionParameters( + spatial_handle_, cc_mag_field, cc_offset0, cc_offset1, cc_offset2, + cc_gain0, cc_gain1, cc_gain2, cc_T0, cc_T1, cc_T2, cc_T3, cc_T4, cc_T5); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set magnetometer correction parameters", + ret); + } +} + +void Spatial::setSpatialAlgorithm(const std::string algorithm_name) +{ + Phidget_SpatialAlgorithm algorithm; + + if (algorithm_name.compare("none") == 0) + { + algorithm = SPATIAL_ALGORITHM_NONE; + } else if (algorithm_name.compare("ahrs") == 0) + { + algorithm = SPATIAL_ALGORITHM_AHRS; + } else if (algorithm_name.compare("imu") == 0) + { + algorithm = SPATIAL_ALGORITHM_IMU; + } else + { + throw std::invalid_argument("Unknown spatial algorithm name"); + } + + PhidgetReturnCode ret = + PhidgetSpatial_setAlgorithm(spatial_handle_, algorithm); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set spatial algorithm", ret); + } +} + +void Spatial::setAHRSParameters(double angularVelocityThreshold, + double angularVelocityDeltaThreshold, + double accelerationThreshold, double magTime, + double accelTime, double biasTime) +{ + PhidgetReturnCode ret = PhidgetSpatial_setAHRSParameters( + spatial_handle_, angularVelocityThreshold, + angularVelocityDeltaThreshold, accelerationThreshold, magTime, + accelTime, biasTime); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set AHRS parameters", ret); + } +} + +void Spatial::setAlgorithmMagnetometerGain(double magnetometer_gain) +{ + PhidgetReturnCode ret = PhidgetSpatial_setAlgorithmMagnetometerGain( + spatial_handle_, magnetometer_gain); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set algorithm magnetometer gain", ret); + } +} + +void Spatial::setHeatingEnabled(bool heating_enabled) +{ + PhidgetReturnCode ret = + PhidgetSpatial_setHeatingEnabled(spatial_handle_, heating_enabled); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set heating flag", ret); + } +} + +void Spatial::setDataInterval(uint32_t interval_ms) const +{ + PhidgetReturnCode ret = + PhidgetSpatial_setDataInterval(spatial_handle_, interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set data interval", ret); + } +} + +void Spatial::dataHandler(const double acceleration[3], + const double angular_rate[3], + const double magnetic_field[3], + double timestamp) const +{ + data_handler_(acceleration, angular_rate, magnetic_field, timestamp); +} + +void Spatial::algorithmDataHandler(const double quaternion[4], + double timestamp) const +{ + algorithm_data_handler_(quaternion, timestamp); +} + +void Spatial::attachHandler() +{ + attach_handler_(); +} + +void Spatial::detachHandler() +{ + detach_handler_(); +} + +void Spatial::DataHandler(PhidgetSpatialHandle /* input_handle */, void *ctx, + const double acceleration[3], + const double angular_rate[3], + const double magnetic_field[3], double timestamp) +{ + (reinterpret_cast(ctx)) + ->dataHandler(acceleration, angular_rate, magnetic_field, timestamp); +} + +void Spatial::AlgorithmDataHandler(PhidgetSpatialHandle /* input_handle */, + void *ctx, const double quaternion[4], + double timestamp) +{ + ((Spatial *)ctx)->algorithmDataHandler(quaternion, timestamp); +} + +void Spatial::AttachHandler(PhidgetHandle /* input_handle */, void *ctx) +{ + ((Spatial *)ctx)->attachHandler(); +} + +void Spatial::DetachHandler(PhidgetHandle /* input_handle */, void *ctx) +{ + ((Spatial *)ctx)->detachHandler(); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_api/src/temperature.cpp b/docker/local-ros2/phidgets_drivers/phidgets_api/src/temperature.cpp new file mode 100644 index 0000000..98a69d1 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_api/src/temperature.cpp @@ -0,0 +1,135 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include + +#include "phidgets_api/phidget22.hpp" +#include "phidgets_api/temperature.hpp" + +namespace phidgets { + +Temperature::Temperature(int32_t serial_number, int hub_port, + bool is_hub_port_device, + std::function temperature_handler) + : serial_number_(serial_number), temperature_handler_(temperature_handler) +{ + PhidgetReturnCode ret = + PhidgetTemperatureSensor_create(&temperature_handle_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to create TemperatureSensor handle", ret); + } + + helpers::openWaitForAttachment( + reinterpret_cast(temperature_handle_), serial_number, + hub_port, is_hub_port_device, 0); + + ret = PhidgetTemperatureSensor_setOnTemperatureChangeHandler( + temperature_handle_, TemperatureChangeHandler, this); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set change handler for Temperature", + ret); + } + + if (serial_number_ == -1) + { + ret = Phidget_getDeviceSerialNumber( + reinterpret_cast(temperature_handle_), + &serial_number_); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get serial number for temperature", + ret); + } + } +} + +Temperature::~Temperature() +{ + PhidgetHandle handle = reinterpret_cast(temperature_handle_); + helpers::closeAndDelete(&handle); +} + +int32_t Temperature::getSerialNumber() const noexcept +{ + return serial_number_; +} + +void Temperature::setThermocoupleType(ThermocoupleType type) +{ + PhidgetReturnCode ret = PhidgetTemperatureSensor_setThermocoupleType( + temperature_handle_, + static_cast(type)); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set Temperature thermocouple type", + ret); + } +} + +double Temperature::getTemperature() const +{ + double current_temperature; + PhidgetReturnCode ret = PhidgetTemperatureSensor_getTemperature( + temperature_handle_, ¤t_temperature); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to get temperature", ret); + } + return current_temperature; +} + +void Temperature::setDataInterval(uint32_t interval_ms) const +{ + PhidgetReturnCode ret = PhidgetTemperatureSensor_setDataInterval( + temperature_handle_, interval_ms); + if (ret != EPHIDGET_OK) + { + throw Phidget22Error("Failed to set data interval", ret); + } +} + +void Temperature::temperatureChangeHandler(double temperature) const +{ + temperature_handler_(temperature); +} + +void Temperature::TemperatureChangeHandler( + PhidgetTemperatureSensorHandle /* temperature_handle */, void *ctx, + double temperature) +{ + (reinterpret_cast(ctx)) + ->temperatureChangeHandler(temperature); +} + +} // namespace phidgets diff --git a/docker/local-ros2/phidgets_drivers/phidgets_drivers/CHANGELOG.rst b/docker/local-ros2/phidgets_drivers/phidgets_drivers/CHANGELOG.rst new file mode 100644 index 0000000..7cd17cd --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_drivers/CHANGELOG.rst @@ -0,0 +1,108 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package phidgets_drivers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.3 (2024-03-13) +------------------ + +2.3.2 (2023-11-27) +------------------ + +2.3.1 (2023-03-03) +------------------ + +2.3.0 (2022-04-13) +------------------ + +2.2.2 (2022-02-17) +------------------ + +2.2.1 (2021-08-03) +------------------ + +2.2.0 (2021-05-20) +------------------ + +2.1.0 (2021-03-29) +------------------ + +2.0.2 (2020-06-01) +------------------ + +2.0.1 (2019-12-05) +------------------ + +2.0.0 (2019-12-05) +------------------ +* Port phidgets_drivers to ROS 2. +* Ignore all packages for ROS 2 port. +* Update maintainers in package.xml +* Merge pull request `#39 `_ from clalancette/add-libphidget22 +* Completely remove libphidget21. +* Rewrite Motor Phidget to use libphidget22. +* Rewrite IMU using libphidget22. +* Add support for Phidgets Magnetometer sensors. +* Add support for Phidgets Gyroscope sensors. +* Add support for Phidgets Accelerometer sensors. +* Add in support for Phidgets Temperature sensors. +* Add in support for Phidgets Analog inputs. +* Add in support for Phidgets Digital Inputs. +* Add in support for Phidgets Digital Outputs. +* Add in libphidget22 package. +* Merge pull request `#36 `_ from clalancette/phidget-cleanup2 +* Split custom messages into their own package. +* Add in phidgets_ik to the phidgets_drivers metapackage. +* Switch to package format 2. +* Contributors: Chris Lalancette, Martin Günther + +0.7.9 (2019-06-28) +------------------ + +0.7.8 (2019-05-06) +------------------ + +0.7.7 (2018-09-18) +------------------ + +0.7.6 (2018-08-09) +------------------ + +0.7.5 (2018-01-31) +------------------ + +0.7.4 (2017-10-04) +------------------ +* Add phidgets_high_speed_encoder to metapackage +* Contributors: Jose Luis Blanco-Claraco, Martin Günther + +0.7.3 (2017-06-30) +------------------ + +0.7.2 (2017-06-02) +------------------ + +0.7.1 (2017-05-22) +------------------ + +0.7.0 (2017-02-17) +------------------ +* Remove phidgets_ir package + It was a stub anyway. If somebody has such a device and cares to expose + the data via ROS topics, this can be revived. +* Contributors: Martin Günther + +0.2.3 (2017-02-17) +------------------ +* Update package.xml meta info +* Contributors: Martin Günther + +0.2.2 (2015-03-23) +------------------ + +0.2.1 (2015-01-15) +------------------ +* phidgets_drivers: removed phidgets_c_api dependency +* Updated version, maintainer and author information +* Deleted comments within files of all packages +* phidgets_drivers: converted stack into metapackage +* Contributors: Murilo FM diff --git a/docker/local-ros2/phidgets_drivers/phidgets_drivers/CMakeLists.txt b/docker/local-ros2/phidgets_drivers/phidgets_drivers/CMakeLists.txt new file mode 100644 index 0000000..017c1c2 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_drivers/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.5) +project(phidgets_drivers) +find_package(ament_cmake REQUIRED) +ament_package() diff --git a/docker/local-ros2/phidgets_drivers/phidgets_drivers/package.xml b/docker/local-ros2/phidgets_drivers/phidgets_drivers/package.xml new file mode 100644 index 0000000..5839d8e --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_drivers/package.xml @@ -0,0 +1,44 @@ + + + phidgets_drivers + 2.3.3 + API and ROS drivers for Phidgets devices + + Martin Günther + Chris Lalancette + + BSD, LGPL + + http://ros.org/wiki/phidgets_drivers + https://github.com/ros-drivers/phidgets_drivers.git + https://github.com/ros-drivers/phidgets_drivers/issues + + Phidgets Inc. + Tully Foote + Ivan Dryanovski + Martin Günther + Murilo FM + José-Luis Blanco Claraco + Chris Lalancette + + ament_cmake + + libphidget22 + phidgets_accelerometer + phidgets_api + phidgets_analog_inputs + phidgets_digital_inputs + phidgets_digital_outputs + phidgets_gyroscope + phidgets_ik + phidgets_high_speed_encoder + phidgets_magnetometer + phidgets_motors + phidgets_msgs + phidgets_spatial + phidgets_temperature + + + ament_cmake + + diff --git a/docker/local-ros2/phidgets_drivers/phidgets_msgs/CHANGELOG.rst b/docker/local-ros2/phidgets_drivers/phidgets_msgs/CHANGELOG.rst new file mode 100644 index 0000000..6c7c6c7 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_msgs/CHANGELOG.rst @@ -0,0 +1,90 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package phidgets_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.3 (2024-03-13) +------------------ + +2.3.2 (2023-11-27) +------------------ + +2.3.1 (2023-03-03) +------------------ +* adding support for analog outputs for ROS2 (`#145 `_) +* Contributors: Alexis Fetet + +2.3.0 (2022-04-13) +------------------ +* Merge pull request `#132 `_ from mintar/feat-pre-commit-ros2 + [galactic] Add pre-commit, move from travis to GitHub actions, fix style +* Fix trailing whitespace +* Contributors: Martin Günther + +2.2.2 (2022-02-17) +------------------ + +2.2.1 (2021-08-03) +------------------ + +2.2.0 (2021-05-20) +------------------ + +2.1.0 (2021-03-29) +------------------ + +2.0.2 (2020-06-01) +------------------ + +2.0.1 (2019-12-05) +------------------ + +2.0.0 (2019-12-05) +------------------ +* Port phidgets_msgs to ROS 2. +* Ignore all packages for ROS 2 port. +* Update maintainers in package.xml +* Merge pull request `#39 `_ from clalancette/add-libphidget22 +* Switch to C++14. +* Merge pull request `#36 `_ from clalancette/phidget-cleanup2 +* Switch to C++14 everywhere. +* Split custom messages into their own package. +* Contributors: Chris Lalancette, Martin Günther + +0.7.9 (2019-06-28) +------------------ + +0.7.8 (2019-05-06) +------------------ + +0.7.7 (2018-09-18) +------------------ + +0.7.6 (2018-08-09) +------------------ + +0.7.5 (2018-01-31) +------------------ + +0.7.4 (2017-10-04) +------------------ + +0.7.3 (2017-06-30) +------------------ + +0.7.2 (2017-06-02) +------------------ + +0.7.1 (2017-05-22) +------------------ + +0.7.0 (2017-02-17 17:40) +------------------------ + +0.2.3 (2017-02-17 12:11) +------------------------ + +0.2.2 (2015-03-23) +------------------ + +0.2.1 (2015-01-15) +------------------ diff --git a/docker/local-ros2/phidgets_drivers/phidgets_msgs/CMakeLists.txt b/docker/local-ros2/phidgets_drivers/phidgets_msgs/CMakeLists.txt new file mode 100644 index 0000000..8dbe4c6 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_msgs/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.5) +project(phidgets_msgs) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) + +set(msg_files + "msg/EncoderDecimatedSpeed.msg" +) + +set(srv_files + "srv/SetAnalogOutput.srv" + "srv/SetDigitalOutput.srv" +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${srv_files} + ${msg_files} + DEPENDENCIES + std_msgs +) + +ament_export_dependencies(rosidl_default_runtime) + +ament_package() diff --git a/docker/local-ros2/phidgets_drivers/phidgets_msgs/msg/EncoderDecimatedSpeed.msg b/docker/local-ros2/phidgets_drivers/phidgets_msgs/msg/EncoderDecimatedSpeed.msg new file mode 100644 index 0000000..4c9a8e9 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_msgs/msg/EncoderDecimatedSpeed.msg @@ -0,0 +1,4 @@ +# Encoder averaged speed for a channel in a Phidgets High-Speed Encoder board +std_msgs/Header header +# Averaged (sliding window) speed estimation [rad/s] +float64 avr_speed diff --git a/docker/local-ros2/phidgets_drivers/phidgets_msgs/package.xml b/docker/local-ros2/phidgets_drivers/phidgets_msgs/package.xml new file mode 100644 index 0000000..428a248 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_msgs/package.xml @@ -0,0 +1,28 @@ + + + + phidgets_msgs + 2.3.3 + Custom ROS messages for Phidgets drivers + + Martin Günther + Chris Lalancette + + BSD + + Chris Lalancette + + ament_cmake + + std_msgs + + rosidl_default_generators + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + diff --git a/docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetAnalogOutput.srv b/docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetAnalogOutput.srv new file mode 100644 index 0000000..c587d95 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetAnalogOutput.srv @@ -0,0 +1,6 @@ +# Sets the state of an analog output. + +uint16 index # index of the output to be set +float64 voltage +--- +bool success diff --git a/docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetDigitalOutput.srv b/docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetDigitalOutput.srv new file mode 100644 index 0000000..5aa15d0 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_msgs/srv/SetDigitalOutput.srv @@ -0,0 +1,6 @@ +# Sets the state of a digital output. + +uint16 index # index of the output to be set +bool state +--- +bool success diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/CHANGELOG.rst b/docker/local-ros2/phidgets_drivers/phidgets_spatial/CHANGELOG.rst new file mode 100644 index 0000000..d79bd22 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/CHANGELOG.rst @@ -0,0 +1,212 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package phidgets_spatial +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.3 (2024-03-13) +------------------ +* Add support for VINT networkhub (`#172 `_) + This is a port of `#127 `_ to ROS2. + Closes `#135 `_. +* Contributors: Martin Günther + +2.3.2 (2023-11-27) +------------------ +* Only set magnetometer gain if param is set (`#169 `_) +* added new parameters for spatial precision MOT0109 onwards +* added support for phidget spatial onboard orientation estimation +* Contributors: Malte kl. Piening, Martin Günther + +2.3.1 (2023-03-03) +------------------ + +2.3.0 (2022-04-13) +------------------ + +2.2.2 (2022-02-17) +------------------ +* Fix behavior after USB reattachment (`#119 `_) + The Phidged Spatial never recovered after detaching and reattaching to + the USB port. This commit fixes that. +* Add attach + detach handlers +* Fix publishing of invalid mag readings (`#116 `_) +* Contributors: Martin Günther + +2.2.1 (2021-08-03) +------------------ +* Make the magnetometer corrections optional again. (`#95 `_) +* Update the ROS 2 readme files. (`#93 `_) +* Contributors: Chris Lalancette + +2.2.0 (2021-05-20) +------------------ +* Make sure to declare the type while declaring the parameter. (`#89 `_) +* Contributors: Chris Lalancette + +2.1.0 (2021-03-29) +------------------ +* Don't publish messages that jumped back in time. (`#86 `_) +* Log synchronization window details at DEBUG level (`#84 `_) +* Get rid of deprecation warnings in Foxy. (`#75 `_) +* Switch header guards to _HPP SUFFIX. +* Contributors: Chris Lalancette, Martin Günther, Michael Grupp + +2.0.2 (2020-06-01) +------------------ +* Release build fixes (`#67 `_) +* Contributors: Chris Lalancette + +2.0.1 (2019-12-05) +------------------ +* Switch the buildtoo_depend to ament_cmake_ros. (`#65 `_) +* Contributors: Chris Lalancette + +2.0.0 (2019-12-05) +------------------ +* Include file cleanup. +* Make sure exceptions get caught by reference. +* Switch from NULL to nullptr. +* Make sure to initialize class member variables. +* Update READMEs to use "Published Topics" and "Subscribed Topics". (`#59 `_) +* Change launch output to "both" so it logs as well. +* Make publish_rate a double. +* Print out the serial number when connecting. +* Update documentation to mention device dependent fields. +* Update FIXME comments for sleep. +* Port spatial to ROS 2. +* Ignore all packages for ROS 2 port. +* Fix wrong defaults for standard deviations (`#48 `_) +* Improve the IMU calibration service (`#47 `_) +* Update maintainers in package.xml +* Merge pull request `#39 `_ from clalancette/add-libphidget22 +* Resynchronize the times at periodic intervals. +* Add launch files for all drivers. +* Add in try/catch blocks for connecting. +* Fixes from review. +* Documentation updates to README.md +* Set the publish_rate to 0 by default. +* Add in the license files and add to the headers. +* Remove nodes in favor of nodelets. +* Finish removing launch file from phidgets_spatial. +* Rewrite IMU using libphidget22. +* Contributors: Chris Lalancette, Martin Günther + +0.7.9 (2019-06-28) +------------------ + +0.7.8 (2019-05-06) +------------------ + +0.7.7 (2018-09-18) +------------------ +* Add parameter use_imu_time (default true) (`#27 `_) + Setting use_imu_time to false will disable the imu time calibration and + always use the Host time, i.e. ros::Time::now(). +* Contributors: Jochen Sprickerhof + +0.7.6 (2018-08-09) +------------------ +* phidgets_imu: Ensure strictly ordered timestamps (`#26 `_) + Fixes `#17 `_. +* Contributors: Michael Grupp, Martin Günther + +0.7.5 (2018-01-31) +------------------ +* phidgets_imu: Add roslaunch_add_file_check +* phidgets_imu: Add diagnostic_aggregator dependency +* phidgets_imu: Add missing install rule for config +* update to use non deprecated pluginlib macro (`#19 `_) +* Contributors: Martin Günther, Mikael Arguedas + +0.7.4 (2017-10-04) +------------------ + +0.7.3 (2017-06-30) +------------------ + +0.7.2 (2017-06-02) +------------------ +* First release into Lunar +* phidgets_imu: Add use_magnetic_field_msg to launch + This is required in Jade: Since Jade, phidgets_imu publishes + MagneticField messages, but imu_filter_madgwick still subscribes by + default to Vector3Stamped messages. When running as nodelets, this can + produce a silent error. + In Kinetic, this is optional: imu_filter_madgwick now defaults to + MagneticField. + From Lunar on, it should be removed, because the use_magnetic_field_msg + param was removed from imu_filter_madgwick. +* Contributors: Martin Günther + +0.7.1 (2017-05-22) +------------------ +* phidgets_imu: add optional serial number parameter (`#7 `_) +* phidgets_imu: Add imu_filter_madgwick dependency + Closes `#9 `_. +* Contributors: Johan M. von Behren, Martin Günther + +0.7.0 (2017-02-17) +------------------ +* Publish MagneticField instead of Vector3Stamped +* Report mag data in Tesla, not Gauss + This is to conform with sensor_msgs/MagneticField, which requires the + data to be in Tesla. +* Contributors: Martin Günther + +0.2.3 (2017-02-17) +------------------ +* Add IMU diagnostics (`#24 `_) +* Set data rate after reattachment + This fixes a bug where after disconnecting and reconnecting the USB + cable, the data rate would be set to the default of 125 Hz (= period of + 8ms). By moving the setDataRate call to the attachHandler, the data rate + is correctly set after each reattachment. +* Contributors: Mani Monajjemi, Keshav Iyengar, Martin Günther + +0.2.2 (2015-03-23) +------------------ +* Merge pull request #18 from ccny-ros-pkg/libphidgets + Merge libphidgets branch into indigo +* set orientation_covariance[0] to -1 + from Imu.msg: + > If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation + > estimate), please set element 0 of the associated covariance matrix to -1. +* phidgets_imu: fixed issue #9 +* Contributors: Martin Günther, Murilo FM + +0.2.1 (2015-01-15) +------------------ +* add boost depends to CMakeLists + All non-catkin things that we expose in our headers should be added to + the DEPENDS, so that packages which depend on our package will also + automatically link against it. + Also see: http://answers.ros.org/question/58498/what-is-the-purpose-of-catkin_depends/\#58593 +* improve error output when setting compass corr params + The previous implementation didn't catch a number of error codes + (EPHIDGET_INVALIDARG, EPHIDGET_NOTATTACHED, EPHIDGET_UNEXPECTED), and + the new one is more elegant and consistent with the previous code anyway. +* Set compass correction params on the device + Tested with a Phidget Spatial 3/3/3 1044. +* phidgets_imu: install phidgets_imu_nodelet.xml +* phidgets_imu: not exporting nodelet as library anymore +* Updated version, maintainer and author information +* phidgets_imu: added install rule to launch files +* phidgets_imu: removed unnecessary dependency +* Deleted comments within files of all packages +* Catkinised packages +* Merge pull request #1 from uos/fix_imu_time_lag + fix IMU time lag +* add some hints to error message + I just spent 30 minutes trying to figure out why the IMU works on one + computer and doesn't on another one. Felt a little foolish when I found + out that the udev rules weren't installed; maybe providing some more + info in the error message helps others. +* use ros::Time::now() if time lag exceeds threshold +* added warning if IMU time lags behind ROS time +* renamed rate parameter to period +* added timestamp in imu data +* fixed cmakelists by including lib to compile on electric +* adding missing imu_ros h file +* adding missing imu_ros cpp file +* added api, imu and ir +* initial commit +* Contributors: Ivan Dryanovski, Martin Günther, Murilo FM diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/CMakeLists.txt b/docker/local-ros2/phidgets_drivers/phidgets_spatial/CMakeLists.txt new file mode 100644 index 0000000..63fb3fe --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 3.5) +project(phidgets_spatial) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_ros REQUIRED) +find_package(phidgets_api REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(std_srvs REQUIRED) + +include_directories(include) + +add_library(phidgets_spatial SHARED src/spatial_ros_i.cpp) +ament_target_dependencies(phidgets_spatial + phidgets_api + rclcpp + rclcpp_components + sensor_msgs + std_msgs + std_srvs +) + +rclcpp_components_register_nodes(phidgets_spatial + "phidgets::SpatialRosI") + +install(TARGETS phidgets_spatial + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +install(DIRECTORY include/ + DESTINATION include +) + +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/README.md b/docker/local-ros2/phidgets_drivers/phidgets_spatial/README.md new file mode 100644 index 0000000..ad3f350 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/README.md @@ -0,0 +1,60 @@ +Phidgets spatial ROS 2 driver +============================= + +This is the ROS 2 driver for Phidgets spatial. + +Usage +----- + +To run this driver standalone, do the following: + + ros2 launch phidgets_spatial spatial-launch.py + +Published Topics +---------------- + +* `/imu/data_raw` (`sensor_msgs/Imu`) - The raw accelerometer and gyroscope data. +* `imu/is_calibrated` (`std_msgs/Bool`) - Whether the gyroscope has been calibrated; this will be done automatically at startup time, but can also be re-done at any time by calling the `imu/calibrate` service. +* `/imu/mag` (`sensor_msgs/MagneticField`) - The raw magnetometer data. + +Services +-------- + +* `imu/calibrate` (`std_srvs/Empty`) - Run calibration on the gyroscope. + +Parameters +---------- + +* `serial` (int) - The serial number of the phidgets spatial to connect to. If -1 (the default), connects to any spatial phidget that can be found. +* `hub_port` (int) - The phidgets VINT hub port to connect to. Only used if the spatial phidget is connected to a VINT hub. Defaults to 0. +* `frame_id` (string) - The header frame ID to use when publishing the message. Defaults to [REP-0145](http://www.ros.org/reps/rep-0145.html) compliant `imu_link`. +* `use_orientation` (bool) - Use the phidget spatials onboard orientation estimation; Just available on MOT0109 onwards. Set to false for older versions. Defaults to false. +* `spatial_algorithm` (string) - Name of the spatial algorithm used for orientation estimation (one of "none", "ahrs", "imu"); Just used if `use_orientation` is set to true. Defaults to `ahrs`. +* `ahrs_angular_velocity_threshold` (double) - Parameter for AHRS orientation estimation; Just used if `use_orientation` is set to true. +* `ahrs_angular_velocity_delta_threshold` (double) - Parameter for AHRS orientation estimation; Just used if `use_orientation` is set to true. +* `ahrs_acceleration_threshold` (double) - Parameter for AHRS orientation estimation; Just used if `use_orientation` is set to true. +* `ahrs_mag_time` (double) - Parameter for AHRS orientation estimation; Just used if `use_orientation` is set to true. +* `ahrs_accel_time` (double) - Parameter for AHRS orientation estimation; Just used if `use_orientation` is set to true. +* `ahrs_bias_time` (double) - Parameter for AHRS orientation estimation; Just used if `use_orientation` is set to true. +* `algorithm_magnetometer_gain` (double) - Gain of magnetometer in orientation estimation algorithm; Just used if `use_orientation` is set to true. Defaults to 0.005 +* `heating_enabled` (bool) - Use the internal heating element; Just available on MOT0109 onwards. Do not set this parameter for older versions. +* `linear_acceleration_stdev` (double) - The standard deviation to use for the linear acceleration when publishing the message. Defaults to 280 ug. +* `angular_velocity_stdev` (double) - The standard deviation to use for the angular velocity when publishing the message. Defaults to 0.095 deg/s. +* `magnetic_field_stdev` (double) - The standard deviation to use for the magnetic field when publishing the message. Defaults to 1.1 milligauss. +* `time_resynchronization_interval_ms` (int) - The number of milliseconds to wait between resynchronizing the time on the Phidgets spatial with the local time. Larger values have less "jumps", but will have more timestamp drift. Setting this to 0 disables resynchronization. Defaults to 5000 ms. +* `data_interval_ms` (int) - The number of milliseconds between acquisitions of data on the device (allowed values are dependent on the device). Defaults to 8 ms. +* `callback_delta_epsilon_ms` (int) - The number of milliseconds epsilon allowed between callbacks when attempting to resynchronize the time. If this is set to 1, then a difference of `data_interval_ms` plus or minus 1 millisecond will be considered viable for resynchronization. Higher values give the code more leeway to resynchronize, at the cost of potentially getting bad resynchronizations sometimes. Lower values can give better results, but can also result in never resynchronizing. Must be less than `data_interval_ms`. Defaults to 1 ms. +* `publish_rate` (double) - How often the driver will publish data on the ROS topic. If 0 (the default), it will publish every time there is an update from the device (so at the `data_interval_ms`). If positive, it will publish the data at that rate regardless of the acquisition interval. +* `cc_mag_field` (double) - Ambient magnetic field calibration value; see device's user guide for information on how to calibrate. +* `cc_offset0` (double) - Calibration offset value 0; see device's user guide for information on how to calibrate. +* `cc_offset1` (double) - Calibration offset value 1; see device's user guide for information on how to calibrate. +* `cc_offset2` (double) - Calibration offset value 2; see device's user guide for information on how to calibrate. +* `cc_gain0` (double) - Gain offset value 0; see device's user guide for information on how to calibrate. +* `cc_gain1` (double) - Gain offset value 1; see device's user guide for information on how to calibrate. +* `cc_gain2` (double) - Gain offset value 2; see device's user guide for information on how to calibrate. +* `cc_t0` (double) - T offset value 0; see device's user guide for information on how to calibrate. +* `cc_t1` (double) - T offset value 1; see device's user guide for information on how to calibrate. +* `cc_t2` (double) - T offset value 2; see device's user guide for information on how to calibrate. +* `cc_t3` (double) - T offset value 3; see device's user guide for information on how to calibrate. +* `cc_t4` (double) - T offset value 4; see device's user guide for information on how to calibrate. +* `cc_t5` (double) - T offset value 5; see device's user guide for information on how to calibrate. diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/include/phidgets_spatial/spatial_ros_i.hpp b/docker/local-ros2/phidgets_drivers/phidgets_spatial/include/phidgets_spatial/spatial_ros_i.hpp new file mode 100644 index 0000000..572a41c --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/include/phidgets_spatial/spatial_ros_i.hpp @@ -0,0 +1,124 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP +#define PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "phidgets_api/spatial.hpp" + +namespace phidgets { + +const float G = 9.80665; + +class SpatialRosI final : public rclcpp::Node +{ + public: + explicit SpatialRosI(const rclcpp::NodeOptions& options); + + private: + std::unique_ptr spatial_; + std::string frame_id_; + std::mutex spatial_mutex_; + + rclcpp::Publisher::SharedPtr cal_publisher_; + rclcpp::Service::SharedPtr cal_srv_; + rclcpp::Publisher::SharedPtr imu_pub_; + rclcpp::Publisher::SharedPtr + magnetic_field_pub_; + void timerCallback(); + rclcpp::TimerBase::SharedPtr timer_; + double publish_rate_; + std::string server_name_; + std::string server_ip_; + + rclcpp::Time ros_time_zero_; + bool synchronize_timestamps_{true}; + uint64_t data_time_zero_ns_{0}; + uint64_t last_data_timestamp_ns_{0}; + uint64_t last_ros_stamp_ns_{0}; + int64_t time_resync_interval_ns_{0}; + int64_t data_interval_ns_{0}; + bool can_publish_{false}; + rclcpp::Time last_cb_time_; + int64_t cb_delta_epsilon_ns_{0}; + + void calibrate(); + + void calibrateService( + const std::shared_ptr req, + std::shared_ptr res); + + // Accelerometer + double linear_acceleration_variance_{0.0}; + double last_accel_x_{0.0}; + double last_accel_y_{0.0}; + double last_accel_z_{0.0}; + + // Gyroscope + double angular_velocity_variance_{0.0}; + double last_gyro_x_{0.0}; + double last_gyro_y_{0.0}; + double last_gyro_z_{0.0}; + + // Magnetometer + double magnetic_field_variance_{0.0}; + double last_mag_x_{0.0}; + double last_mag_y_{0.0}; + double last_mag_z_{0.0}; + + // Onboard orientation estimation results + double last_quat_w_; + double last_quat_x_; + double last_quat_y_; + double last_quat_z_; + + void publishLatest(); + + void spatialDataCallback(const double acceleration[3], + const double angular_rate[3], + const double magnetic_field[3], double timestamp); + void spatialAlgorithmDataCallback(const double quaternion[4], + double timestamp); + void attachCallback(); + void detachCallback(); +}; + +} // namespace phidgets + +#endif // PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/launch/spatial-launch.py b/docker/local-ros2/phidgets_drivers/phidgets_spatial/launch/spatial-launch.py new file mode 100644 index 0000000..ab1a097 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/launch/spatial-launch.py @@ -0,0 +1,63 @@ +# Copyright 2019 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. + +"""Launch a Phidgets spatial in a component container.""" + +import launch +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode + + +def generate_launch_description(): + """Generate launch description with multiple components.""" + + params = { + # optional param use_orientation, default is false + 'use_orientation': False, + + # optional param spatial_algorithm, default is 'ahrs' + 'spatial_algorithm': 'ahrs', + + # optional ahrs parameters + 'ahrs_angular_velocity_threshold': 1.0, + 'ahrs_angular_velocity_delta_threshold': 0.1, + 'ahrs_acceleration_threshold': 0.1, + 'ahrs_mag_time': 10.0, + 'ahrs_accel_time': 10.0, + 'ahrs_bias_time': 1.25, + + # optional param algorithm_magnetometer_gain, default is 0.005 + # WARNING: do not set on PhidgetSpatial MOT0110 onwards (not supported)! + # 'algorithm_magnetometer_gain': 0.005, + + # optional param heating_enabled, not modified by default + 'heating_enabled': False, + } + + container = ComposableNodeContainer( + name='phidget_container', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='phidgets_spatial', + plugin='phidgets::SpatialRosI', + name='phidgets_spatial', + parameters=[params]), + ], + output='both', + ) + + return launch.LaunchDescription([container]) diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/package.xml b/docker/local-ros2/phidgets_drivers/phidgets_spatial/package.xml new file mode 100644 index 0000000..7b6058e --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/package.xml @@ -0,0 +1,32 @@ + + + phidgets_spatial + 2.3.3 + Driver for the Phidgets Spatial 3/3/3 devices + + Martin Günther + Chris Lalancette + + BSD + + http://ros.org/wiki/phidgets_spatial + https://github.com/ros-drivers/phidgets_drivers.git + https://github.com/ros-drivers/phidgets_drivers/issues + + Ivan Dryanovski + + ament_cmake_ros + + phidgets_api + rclcpp + rclcpp_components + sensor_msgs + std_msgs + std_srvs + + launch + + + ament_cmake + + diff --git a/docker/local-ros2/phidgets_drivers/phidgets_spatial/src/spatial_ros_i.cpp b/docker/local-ros2/phidgets_drivers/phidgets_spatial/src/spatial_ros_i.cpp new file mode 100644 index 0000000..c232f41 --- /dev/null +++ b/docker/local-ros2/phidgets_drivers/phidgets_spatial/src/spatial_ros_i.cpp @@ -0,0 +1,617 @@ +/* + * Copyright (c) 2019, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "phidgets_api/spatial.hpp" +#include "phidgets_spatial/spatial_ros_i.hpp" + +namespace phidgets { + +SpatialRosI::SpatialRosI(const rclcpp::NodeOptions &options) + : rclcpp::Node("phidgets_spatial_node", options) +{ + setvbuf(stdout, nullptr, _IONBF, BUFSIZ); + + RCLCPP_INFO(get_logger(), "Starting Phidgets Spatial"); + + bool use_orientation = this->declare_parameter( + "use_orientation", + false); // default do not use the onboard orientation + std::string spatial_algorithm = + this->declare_parameter("spatial_algorithm", "ahrs"); + + double ahrsAngularVelocityThreshold; + double ahrsAngularVelocityDeltaThreshold; + double ahrsAccelerationThreshold; + double ahrsMagTime; + double ahrsAccelTime; + double ahrsBiasTime; + + this->declare_parameter("ahrs_angular_velocity_threshold", + rclcpp::ParameterType::PARAMETER_DOUBLE); + this->declare_parameter("ahrs_angular_velocity_delta_threshold", + rclcpp::ParameterType::PARAMETER_DOUBLE); + this->declare_parameter("ahrs_acceleration_threshold", + rclcpp::ParameterType::PARAMETER_DOUBLE); + this->declare_parameter("ahrs_mag_time", + rclcpp::ParameterType::PARAMETER_DOUBLE); + this->declare_parameter("ahrs_accel_time", + rclcpp::ParameterType::PARAMETER_DOUBLE); + this->declare_parameter("ahrs_bias_time", + rclcpp::ParameterType::PARAMETER_DOUBLE); + + bool has_ahrs_params = + this->get_parameter("ahrs_angular_velocity_threshold", + ahrsAngularVelocityThreshold) && + this->get_parameter("ahrs_angular_velocity_delta_threshold", + ahrsAngularVelocityDeltaThreshold) && + this->get_parameter("ahrs_acceleration_threshold", + ahrsAccelerationThreshold) && + this->get_parameter("ahrs_mag_time", ahrsMagTime) && + this->get_parameter("ahrs_accel_time", ahrsAccelTime) && + this->get_parameter("ahrs_bias_time", ahrsBiasTime); + + double algorithm_magnetometer_gain; + bool set_algorithm_magnetometer_gain = true; + if (!this->get_parameter("algorithm_magnetometer_gain", + algorithm_magnetometer_gain)) + { + algorithm_magnetometer_gain = 0.0; + set_algorithm_magnetometer_gain = + false; // if parameter not set, do not call api (because this + // function is not available from MOT0110 onwards) + } + + bool heating_enabled; + bool set_heating_enabled = true; + if (!this->get_parameter("heating_enabled", heating_enabled)) + { + set_heating_enabled = + false; // if parameter not set, do not call api (because this + // function is just available from MOT0109 onwards) + } + + int serial_num = + this->declare_parameter("serial", -1); // default open any device + + int hub_port = this->declare_parameter( + "hub_port", 0); // only used if the device is on a VINT hub_port + + // As specified in http://www.ros.org/reps/rep-0145.html + frame_id_ = this->declare_parameter("frame_id", "imu_link"); + + double linear_acceleration_stdev = this->declare_parameter( + "linear_acceleration_stdev", + 280.0 * 1e-6 * + G); // 280 ug accelerometer white noise sigma, as per manual + linear_acceleration_variance_ = + linear_acceleration_stdev * linear_acceleration_stdev; + + // 0.095 deg/s gyroscope white noise sigma, as per manual + double angular_velocity_stdev = this->declare_parameter( + "angular_velocity_stdev", 0.095 * (M_PI / 180.0)); + angular_velocity_variance_ = + angular_velocity_stdev * angular_velocity_stdev; + + // 1.1 milligauss magnetometer white noise sigma, as per manual + double magnetic_field_stdev = + this->declare_parameter("magnetic_field_stdev", 1.1 * 1e-3 * 1e-4); + magnetic_field_variance_ = magnetic_field_stdev * magnetic_field_stdev; + + int time_resync_ms = + this->declare_parameter("time_resynchronization_interval_ms", 5000); + time_resync_interval_ns_ = + static_cast(time_resync_ms) * 1000 * 1000; + + int data_interval_ms = this->declare_parameter("data_interval_ms", 8); + data_interval_ns_ = data_interval_ms * 1000 * 1000; + + int cb_delta_epsilon_ms = + this->declare_parameter("callback_delta_epsilon_ms", 1); + cb_delta_epsilon_ns_ = cb_delta_epsilon_ms * 1000 * 1000; + if (cb_delta_epsilon_ms >= data_interval_ms) + { + throw std::runtime_error( + "Callback epsilon is larger than the data interval; this can never " + "work"); + } + + publish_rate_ = this->declare_parameter("publish_rate", 0.0); + if (publish_rate_ > 1000.0) + { + throw std::runtime_error("Publish rate must be <= 1000"); + } + + this->declare_parameter("server_name", + rclcpp::ParameterType::PARAMETER_STRING); + this->declare_parameter("server_ip", + rclcpp::ParameterType::PARAMETER_STRING); + if (this->get_parameter("server_name", server_name_) && + this->get_parameter("server_ip", server_ip_)) + { + PhidgetNet_addServer(server_name_.c_str(), server_ip_.c_str(), 5661, "", + 0); + + RCLCPP_INFO(get_logger(), "Using phidget server %s at IP %s", + server_name_.c_str(), server_ip_.c_str()); + } + + // compass correction params (see + // http://www.phidgets.com/docs/1044_User_Guide) + this->declare_parameter("cc_mag_field", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_offset0", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_offset1", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_offset2", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_gain0", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_gain1", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_gain2", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_t0", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_t1", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_t2", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_t3", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_t4", rclcpp::PARAMETER_DOUBLE); + this->declare_parameter("cc_t5", rclcpp::PARAMETER_DOUBLE); + + bool has_compass_params = false; + double cc_mag_field = 0.0; + double cc_offset0 = 0.0; + double cc_offset1 = 0.0; + double cc_offset2 = 0.0; + double cc_gain0 = 0.0; + double cc_gain1 = 0.0; + double cc_gain2 = 0.0; + double cc_T0 = 0.0; + double cc_T1 = 0.0; + double cc_T2 = 0.0; + double cc_T3 = 0.0; + double cc_T4 = 0.0; + double cc_T5 = 0.0; + + try + { + cc_mag_field = this->get_parameter("cc_mag_field").get_value(); + cc_offset0 = this->get_parameter("cc_offset0").get_value(); + cc_offset1 = this->get_parameter("cc_offset1").get_value(); + cc_offset2 = this->get_parameter("cc_offset2").get_value(); + cc_gain0 = this->get_parameter("cc_gain0").get_value(); + cc_gain1 = this->get_parameter("cc_gain1").get_value(); + cc_gain2 = this->get_parameter("cc_gain2").get_value(); + cc_T0 = this->get_parameter("cc_t0").get_value(); + cc_T1 = this->get_parameter("cc_t1").get_value(); + cc_T2 = this->get_parameter("cc_t2").get_value(); + cc_T3 = this->get_parameter("cc_t3").get_value(); + cc_T4 = this->get_parameter("cc_t4").get_value(); + cc_T5 = this->get_parameter("cc_t5").get_value(); + has_compass_params = true; + } catch (const rclcpp::exceptions::ParameterUninitializedException &) + { + } + + RCLCPP_INFO(get_logger(), + "Connecting to Phidgets Spatial serial %d, hub port %d ...", + serial_num, hub_port); + + // We take the mutex here and don't unlock until the end of the constructor + // to prevent a callback from trying to use the publisher before we are + // finished setting up. + std::lock_guard lock(spatial_mutex_); + + last_quat_w_ = 0.0; + last_quat_x_ = 0.0; + last_quat_y_ = 0.0; + last_quat_z_ = 0.0; + + try + { + std::function algorithm_data_handler = + nullptr; + if (use_orientation) + { + algorithm_data_handler = + std::bind(&SpatialRosI::spatialAlgorithmDataCallback, this, + std::placeholders::_1, std::placeholders::_2); + } + + spatial_ = std::make_unique( + serial_num, hub_port, false, + std::bind(&SpatialRosI::spatialDataCallback, this, + std::placeholders::_1, std::placeholders::_2, + std::placeholders::_3, std::placeholders::_4), + algorithm_data_handler, + std::bind(&SpatialRosI::attachCallback, this), + std::bind(&SpatialRosI::detachCallback, this)); + + RCLCPP_INFO(get_logger(), "Connected to serial %d", + spatial_->getSerialNumber()); + + spatial_->setDataInterval(data_interval_ms); + + cal_publisher_ = this->create_publisher( + "imu/is_calibrated", rclcpp::SystemDefaultsQoS().transient_local()); + + calibrate(); + + if (use_orientation) + { + spatial_->setSpatialAlgorithm(spatial_algorithm); + + if (has_ahrs_params) + { + spatial_->setAHRSParameters(ahrsAngularVelocityThreshold, + ahrsAngularVelocityDeltaThreshold, + ahrsAccelerationThreshold, + ahrsMagTime, ahrsAccelTime, + ahrsBiasTime); + } + + if (set_algorithm_magnetometer_gain) + spatial_->setAlgorithmMagnetometerGain( + algorithm_magnetometer_gain); + } + + if (has_compass_params) + { + spatial_->setCompassCorrectionParameters( + cc_mag_field, cc_offset0, cc_offset1, cc_offset2, cc_gain0, + cc_gain1, cc_gain2, cc_T0, cc_T1, cc_T2, cc_T3, cc_T4, cc_T5); + } else + { + RCLCPP_INFO(get_logger(), "No compass correction params found."); + } + + if (set_heating_enabled) + { + spatial_->setHeatingEnabled(heating_enabled); + } + } catch (const Phidget22Error &err) + { + RCLCPP_ERROR(get_logger(), "Spatial: %s", err.what()); + throw; + } + + imu_pub_ = this->create_publisher("imu/data_raw", 1); + + cal_srv_ = this->create_service( + "imu/calibrate", + std::bind(&SpatialRosI::calibrateService, this, std::placeholders::_1, + std::placeholders::_2)); + + magnetic_field_pub_ = + this->create_publisher("imu/mag", 1); + + if (publish_rate_ > 0.0) + { + double pub_msec = 1000.0 / publish_rate_; + timer_ = this->create_wall_timer( + std::chrono::milliseconds(static_cast(pub_msec)), + std::bind(&SpatialRosI::timerCallback, this)); + } +} + +void SpatialRosI::calibrate() +{ + RCLCPP_INFO(get_logger(), + "Calibrating IMU, this takes around 2 seconds to finish. " + "Make sure that the device is not moved during this time."); + spatial_->zero(); + // The API call returns directly, so we "enforce" the recommended 2 sec + // here. See: https://github.com/ros-drivers/phidgets_drivers/issues/40 + + // FIXME: Ideally we'd use an rclcpp method that honors use_sim_time here, + // but that doesn't actually exist. Once + // https://github.com/ros2/rclcpp/issues/465 is solved, we can revisit this. + std::this_thread::sleep_for(std::chrono::seconds(2)); + RCLCPP_INFO(get_logger(), "Calibrating IMU done."); + + // publish message + auto is_calibrated_msg = std::make_unique(); + is_calibrated_msg->data = true; + cal_publisher_->publish(std::move(is_calibrated_msg)); +} + +void SpatialRosI::calibrateService( + const std::shared_ptr req, + std::shared_ptr res) +{ + (void)req; + (void)res; + calibrate(); +} + +void SpatialRosI::publishLatest() +{ + auto msg = std::make_unique(); + + auto mag_msg = std::make_unique(); + + // build covariance matrices + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 3; ++j) + { + if (i == j) + { + int idx = j * 3 + i; + msg->linear_acceleration_covariance[idx] = + linear_acceleration_variance_; + msg->angular_velocity_covariance[idx] = + angular_velocity_variance_; + mag_msg->magnetic_field_covariance[idx] = + magnetic_field_variance_; + } + } + } + + // Fill out and send IMU message + msg->header.frame_id = frame_id_; + + uint64_t imu_diff_in_ns = last_data_timestamp_ns_ - data_time_zero_ns_; + uint64_t time_in_ns = ros_time_zero_.nanoseconds() + imu_diff_in_ns; + + if (time_in_ns < last_ros_stamp_ns_) + { + RCLCPP_WARN(get_logger(), + "Time went backwards (%lu < %lu)! Not publishing message.", + time_in_ns, last_ros_stamp_ns_); + return; + } + + last_ros_stamp_ns_ = time_in_ns; + + rclcpp::Time ros_time = rclcpp::Time(time_in_ns); + + msg->header.stamp = ros_time; + + // set linear acceleration + msg->linear_acceleration.x = last_accel_x_; + msg->linear_acceleration.y = last_accel_y_; + msg->linear_acceleration.z = last_accel_z_; + + // set angular velocities + msg->angular_velocity.x = last_gyro_x_; + msg->angular_velocity.y = last_gyro_y_; + msg->angular_velocity.z = last_gyro_z_; + + // set spatial algorithm orientation estimation + msg->orientation.w = last_quat_w_; + msg->orientation.x = last_quat_x_; + msg->orientation.y = last_quat_y_; + msg->orientation.z = last_quat_z_; + + imu_pub_->publish(std::move(msg)); + + // Fill out and publish magnetic message + mag_msg->header.frame_id = frame_id_; + + mag_msg->header.stamp = ros_time; + + mag_msg->magnetic_field.x = last_mag_x_; + mag_msg->magnetic_field.y = last_mag_y_; + mag_msg->magnetic_field.z = last_mag_z_; + + magnetic_field_pub_->publish(std::move(mag_msg)); +} + +void SpatialRosI::timerCallback() +{ + std::lock_guard lock(spatial_mutex_); + if (can_publish_) + { + publishLatest(); + } +} + +void SpatialRosI::spatialDataCallback(const double acceleration[3], + const double angular_rate[3], + const double magnetic_field[3], + double timestamp) +{ + // When publishing the message on the ROS network, we want to publish the + // time that the data was acquired in seconds since the Unix epoch. The + // data we have to work with is the time that the callback happened (on the + // local processor, in Unix epoch seconds), and the timestamp that the + // IMU gives us on the callback (from the processor on the IMU, in + // milliseconds since some arbitrary starting point). + // + // At a first approximation, we can apply the timestamp from the device to + // Unix epoch seconds by taking a common starting point on the IMU and the + // local processor, then applying the delta between this IMU timestamp and + // the "zero" IMU timestamp to the local processor starting point. + // + // There are several complications with the simple scheme above. The first + // is finding a proper "zero" point where the IMU timestamp and the local + // timestamp line up. Due to potential delays in servicing this process, + // along with USB delays, the delta timestamp from the IMU and the time when + // this callback gets called can be wildly different. Since we want the + // initial zero for both the IMU and the local time to be in the same time + // "window", we throw away data at the beginning until we see that the delta + // callback and delta timestamp are within reasonable bounds of each other. + // + // The second complication is that the time on the IMU drifts away from the + // time on the local processor. Taking the "zero" time once at the + // beginning isn't sufficient, and we have to periodically re-synchronize + // the times given the constraints above. Because we still have the + // arbitrary delays present as described above, it can take us several + // callbacks to successfully synchronize. We continue publishing data using + // the old "zero" time until successfully resynchronize, at which point we + // switch to the new zero point. + + std::lock_guard lock(spatial_mutex_); + + rclcpp::Time now = this->now(); + + // At the beginning of time, need to initialize last_cb_time for later use; + // last_cb_time is used to figure out the time between callbacks + if (last_cb_time_.nanoseconds() == 0) + { + last_cb_time_ = now; + // We need to initialize the ros_time_zero since rclcpp::Duration + // below won't let us subtract an essentially uninitialized + // rclcpp::Time from another one. However, we'll still do an initial + // synchronization since the default value of synchronize_timestamp + // is true. + ros_time_zero_ = now; + return; + } + + rclcpp::Duration time_since_last_cb = now - last_cb_time_; + uint64_t this_ts_ns = static_cast(timestamp * 1000.0 * 1000.0); + + if (synchronize_timestamps_) + { + // The only time it's safe to sync time between IMU and ROS Node is when + // the data that came in is within the data interval that data is + // expected. It's possible for data to come late because of USB issues + // or swapping, etc and we don't want to sync with data that was + // actually published before this time interval, so we wait until we get + // data that is within the data interval +/- an epsilon since we will + // have taken some time to process and/or a short delay (maybe USB + // comms) may have happened + if (time_since_last_cb.nanoseconds() >= + (data_interval_ns_ - cb_delta_epsilon_ns_) && + time_since_last_cb.nanoseconds() <= + (data_interval_ns_ + cb_delta_epsilon_ns_)) + { + ros_time_zero_ = now; + data_time_zero_ns_ = this_ts_ns; + synchronize_timestamps_ = false; + can_publish_ = true; + } else + { + RCLCPP_DEBUG( + get_logger(), + "Data not within acceptable window for synchronization: " + "expected between %ld and %ld, saw %ld", + data_interval_ns_ - cb_delta_epsilon_ns_, + data_interval_ns_ + cb_delta_epsilon_ns_, + time_since_last_cb.nanoseconds()); + } + } + + if (can_publish_) // Cannot publish data until IMU/ROS timestamps have been + // synchronized at least once + { + // Save off the values + last_accel_x_ = -acceleration[0] * G; + last_accel_y_ = -acceleration[1] * G; + last_accel_z_ = -acceleration[2] * G; + + last_gyro_x_ = angular_rate[0] * (M_PI / 180.0); + last_gyro_y_ = angular_rate[1] * (M_PI / 180.0); + last_gyro_z_ = angular_rate[2] * (M_PI / 180.0); + + if (magnetic_field[0] != PUNK_DBL) + { + // device reports data in Gauss, multiply by 1e-4 to convert to + // Tesla + last_mag_x_ = magnetic_field[0] * 1e-4; + last_mag_y_ = magnetic_field[1] * 1e-4; + last_mag_z_ = magnetic_field[2] * 1e-4; + } else + { + // data is PUNK_DBL ("unknown double"), which means the magnetometer + // did not return valid readings. When publishing at 250 Hz, this + // will happen in every second message, because the magnetometer can + // only sample at 125 Hz. It is still important to publish these + // messages, because a downstream node sometimes uses a + // TimeSynchronizer to get Imu and Magnetometer nodes. + double nan = std::numeric_limits::quiet_NaN(); + + last_mag_x_ = nan; + last_mag_y_ = nan; + last_mag_z_ = nan; + } + last_data_timestamp_ns_ = this_ts_ns; + + // Publish if we aren't publishing on a timer + if (publish_rate_ <= 0.0) + { + publishLatest(); + } + } + + // Determine if we need to resynchronize - time between IMU and ROS Node can + // drift, periodically resync to deal with this issue + rclcpp::Duration diff = now - ros_time_zero_; + if (time_resync_interval_ns_ > 0 && + diff.nanoseconds() >= time_resync_interval_ns_) + { + synchronize_timestamps_ = true; + } + + last_cb_time_ = now; +} + +void SpatialRosI::spatialAlgorithmDataCallback(const double quaternion[4], + double timestamp) +{ + (void)timestamp; + last_quat_w_ = quaternion[3]; + last_quat_x_ = quaternion[0]; + last_quat_y_ = quaternion[1]; + last_quat_z_ = quaternion[2]; +} + +void SpatialRosI::attachCallback() +{ + RCLCPP_INFO(get_logger(), "Phidget Spatial attached."); + + // Set data interval. This is in attachCallback() because it has to be + // repeated on reattachment. + spatial_->setDataInterval(data_interval_ns_ / 1000 / 1000); + + // Force resynchronization, because the device time is reset to 0 after + // reattachment. + synchronize_timestamps_ = true; + can_publish_ = false; + last_cb_time_ = rclcpp::Time(0); +} + +void SpatialRosI::detachCallback() +{ + RCLCPP_INFO(get_logger(), "Phidget Spatial detached."); +} + +} // namespace phidgets + +RCLCPP_COMPONENTS_REGISTER_NODE(phidgets::SpatialRosI) From 930d4b656b89bf2d4e784d21cdce2cbb880cc761 Mon Sep 17 00:00:00 2001 From: mac781 Date: Tue, 14 Jan 2025 16:52:27 +0800 Subject: [PATCH 004/184] Add: imu_drive --- .../local/imu/imu_drive/CMakeLists.txt | 54 +++++ .../local/imu/imu_drive/LICENSE | 202 ++++++++++++++++++ .../imu/imu_drive/config/imu_drive_firm.yaml | 20 ++ .../imu_drive/include/imu_drive/imu_drive.h | 70 ++++++ .../imu/imu_drive/launch/imu_drive_firm.xml | 28 +++ .../local/imu/imu_drive/lib/imu_drive.cpp | 103 +++++++++ .../local/imu/imu_drive/package.xml | 27 +++ .../imu/imu_drive/src/imu_drive_node.cpp | 28 +++ 8 files changed, 532 insertions(+) create mode 100644 localization-devel-ws/local/imu/imu_drive/CMakeLists.txt create mode 100644 localization-devel-ws/local/imu/imu_drive/LICENSE create mode 100644 localization-devel-ws/local/imu/imu_drive/config/imu_drive_firm.yaml create mode 100644 localization-devel-ws/local/imu/imu_drive/include/imu_drive/imu_drive.h create mode 100644 localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml create mode 100644 localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp create mode 100644 localization-devel-ws/local/imu/imu_drive/package.xml create mode 100644 localization-devel-ws/local/imu/imu_drive/src/imu_drive_node.cpp diff --git a/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt b/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt new file mode 100644 index 0000000..e24c2a7 --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt @@ -0,0 +1,54 @@ +cmake_minimum_required(VERSION 3.8) +project(imu_drive) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(std_srvs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(imu_drive_lib lib/imu_drive.cpp) +target_include_directories(imu_drive_lib PUBLIC include) +ament_target_dependencies(imu_drive_lib rclcpp std_srvs sensor_msgs geometry_msgs nav_msgs std_msgs) + +add_executable(imu_drive_node src/imu_drive_node.cpp) +ament_target_dependencies(imu_drive_node rclcpp std_srvs sensor_msgs geometry_msgs nav_msgs std_msgs) +target_link_libraries(imu_drive_node imu_drive_lib) + +install(TARGETS + imu_drive_lib + imu_drive_node + + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-devel-ws/local/imu/imu_drive/LICENSE b/localization-devel-ws/local/imu/imu_drive/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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b/localization-devel-ws/local/imu/imu_drive/config/imu_drive_firm.yaml @@ -0,0 +1,20 @@ +IMU_DRIVE: + ros__parameters: + # Set the usage of the node + active: true + publish: true + + # Covariance for "const" part + covariance_vx: 0.05 + covariance_vy: 0.05 + covariance_vz: 0.01 + covariance_ax: 0.11 + covariance_ay: 0.11 + covariance_az: 0.2 + + # Covariance for "multiple" part + cov_multi_vel: 0.02 + cov_multi_acl: 0.02 + + # Low pass filter -> believe previous + filter_prev: 0.1 \ No newline at end of file diff --git a/localization-devel-ws/local/imu/imu_drive/include/imu_drive/imu_drive.h b/localization-devel-ws/local/imu/imu_drive/include/imu_drive/imu_drive.h new file mode 100644 index 0000000..39cacb5 --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/include/imu_drive/imu_drive.h @@ -0,0 +1,70 @@ +#pragma once + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/clock.hpp" +#include "rclcpp/duration.hpp" +#include "rcl/time.h" + +#include "std_msgs/msg/float64.hpp" +#include "std_srvs/srv/empty.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/twist_with_covariance.hpp" + +using std::placeholders::_1; + +class IMU : public rclcpp::Node{ + +public : + + IMU() : Node("imu_drive_node", rclcpp::NodeOptions()){ + + Initialize(); + } + +private : + + /* Function - for initialize params */ + void Initialize(); + + /* Function - for update params */ + void UpdateParams(); + + /* Function - for sensor_msgs::Imu ( /imu/data )*/ + void IMUdataCallback(const sensor_msgs::msg::Imu::ConstPtr &msg); + + /* Function publish sth we need */ + void publish(); + + /** -- Advertise -- **/ + rclcpp::Subscription::SharedPtr imu_sub_; + rclcpp::Publisher::SharedPtr imu_pub_; + + /** -- Msgs to pub -- **/ + sensor_msgs::msg::Imu imu_output_; + sensor_msgs::msg::Imu imu_output_backup_; + + /** -- For low pass filter -- **/ + geometry_msgs::msg::Vector3 prev_angular_velocity; + geometry_msgs::msg::Vector3 prev_linear_acceleration; + + /* Parameters */ + bool p_active_; + bool p_publish_; + bool p_update_params_; + + double p_covariance_; + double p_cov_multi_vel_; + double p_cov_multi_acl_; + double p_filter_prev_; + + std::string p_frame_; + + std::string p_imu_sub_topic_; + std::string p_imu_pub_topic_; +}; \ No newline at end of file diff --git a/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml b/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml new file mode 100644 index 0000000..d7e15f4 --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp b/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp new file mode 100644 index 0000000..7222807 --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp @@ -0,0 +1,103 @@ +#include "imu_drive/imu_drive.h" + +void IMU::Initialize(){ + + RCLCPP_INFO(this->get_logger(), "inactive node"); + + this->declare_parameter("active", false); + this->declare_parameter("publish", false); + this->declare_parameter("covariance_vx", 0); + this->declare_parameter("covariance_vy", 0); + this->declare_parameter("covariance_vz", 0); + this->declare_parameter("covariance_ax", 0); + this->declare_parameter("covariance_ay", 0); + this->declare_parameter("covariance_az", 0); + this->declare_parameter("cov_multi_vel", 0); + this->declare_parameter("cov_multi_acl", 0); + this->declare_parameter("filter_prev", 0); + + UpdateParams(); +} + +void IMU::UpdateParams(){ + + RCLCPP_INFO(this->get_logger(), "start to update parameters"); + + /* get param */ + p_active_ = this->get_parameter("active").get_value(); + RCLCPP_INFO(this->get_logger(), "active set to %d", p_active_); + + p_publish_ = this->get_parameter("publish").get_value(); + RCLCPP_INFO(this->get_logger(), "publish set to %d", p_publish_); + + p_imu_sub_topic_ = "/imu/data_raw"; + RCLCPP_INFO(this->get_logger(), "Current subscribe topic [ %s ]", p_imu_sub_topic_.c_str()); + + p_imu_pub_topic_ = "/imu/data_cov"; + RCLCPP_INFO(this->get_logger(), "Current publish topic [ %s ]", p_imu_pub_topic_.c_str()); + + p_covariance_ = this->get_parameter("covariance_vx").get_value(); + RCLCPP_INFO(this->get_logger(), "vx covariance set to %f", p_covariance_); + this->imu_output_.angular_velocity_covariance[0] = p_covariance_; + + p_covariance_ = this->get_parameter("covariance_vy").get_value(); + RCLCPP_INFO(this->get_logger(), "vy covariance set to %f", p_covariance_); + this->imu_output_.angular_velocity_covariance[4] = p_covariance_; + + p_covariance_ = this->get_parameter("covariance_vz").get_value(); + RCLCPP_INFO(this->get_logger(), "vz covariance set to %f", p_covariance_); + this->imu_output_.angular_velocity_covariance[8] = p_covariance_; + + p_covariance_ = this->get_parameter("covariance_ax").get_value(); + RCLCPP_INFO(this->get_logger(), "ax covariance set to %f", p_covariance_); + this->imu_output_.linear_acceleration_covariance[0] = p_covariance_; + + p_covariance_ = this->get_parameter("covariance_ay").get_value(); + RCLCPP_INFO(this->get_logger(), "ay covariance set to %f", p_covariance_); + this->imu_output_.linear_acceleration_covariance[4] = p_covariance_; + + p_covariance_ = this->get_parameter("covariance_az").get_value(); + RCLCPP_INFO(this->get_logger(), "az covariance set to %f", p_covariance_); + this->imu_output_.linear_acceleration_covariance[8] = p_covariance_; + + p_cov_multi_vel_ = this->get_parameter("cov_multi_vel").get_value(); + RCLCPP_INFO(this->get_logger(), "[Odometry] : gyroscope \"a\" is set to %f", p_cov_multi_vel_); + + p_cov_multi_acl_ = this->get_parameter("cov_multi_acl").get_value(); + RCLCPP_INFO(this->get_logger(), "[Odometry] : accel \"a\" is set to %f", p_cov_multi_acl_); + + p_filter_prev_ = this->get_parameter("filter_prev").get_value(); + RCLCPP_INFO(this->get_logger(), "[Odometry] : low pass filter constant is set to %f", p_filter_prev_); + + RCLCPP_INFO(this->get_logger(), "active node"); + + this->imu_sub_ = this->create_subscription(p_imu_sub_topic_, 10, std::bind(&IMU::IMUdataCallback, this, _1)); + this->imu_pub_ = this->create_publisher(p_imu_pub_topic_, 10); + + /* -- Backup covariance -- */ + this->imu_output_backup_ = this->imu_output_; + + /* -- Set basic variables -- */ + this->imu_output_.header.frame_id = this->p_frame_; +} + +void IMU::IMUdataCallback(const sensor_msgs::msg::Imu::ConstPtr &msg){ // from /imu/data + + rclcpp::Clock clock; + + this->imu_output_.header.stamp = clock.now(); + + this->imu_output_.orientation = msg->orientation; + + this->imu_output_.linear_acceleration = msg->linear_acceleration; + + this->prev_angular_velocity = this->imu_output_.angular_velocity; + + if(this->p_publish_) + publish(); +} + +void IMU::publish(){ + + this->imu_pub_->publish(this->imu_output_); +} \ No newline at end of file diff --git a/localization-devel-ws/local/imu/imu_drive/package.xml b/localization-devel-ws/local/imu/imu_drive/package.xml new file mode 100644 index 0000000..a39c4fb --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/package.xml @@ -0,0 +1,27 @@ + + + + imu_drive + 0.0.0 + imu_drive + user + Apache-2.0 + + ament_cmake + + rclcpp + std_msgs + std_srvs + geometry_msgs + nav_msgs + sensor_msgs + + ros2launch + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/localization-devel-ws/local/imu/imu_drive/src/imu_drive_node.cpp b/localization-devel-ws/local/imu/imu_drive/src/imu_drive_node.cpp new file mode 100644 index 0000000..5551211 --- /dev/null +++ b/localization-devel-ws/local/imu/imu_drive/src/imu_drive_node.cpp @@ -0,0 +1,28 @@ +#include "imu_drive/imu_drive.h" + +int main(int argc, char * argv[]){ + + rclcpp::init(argc, argv); + + RCLCPP_INFO(rclcpp::get_logger("IMU_DRIVE"), "Initializing imu drive node"); + + try { + + rclcpp::spin(std::make_shared()); + } + catch (const char* s) { + + RCLCPP_FATAL(rclcpp::get_logger("IMU DRIVE"), "%s", s); + + } + catch (...) { + + RCLCPP_FATAL(rclcpp::get_logger("IMU DRIVE"), "Unexpected error"); + } + + rclcpp::shutdown(); + + RCLCPP_INFO(rclcpp::get_logger("IMU DRIVE"), "Shutdown"); + + return 0; +} \ No newline at end of file From f9ae6982408a51cfdb9552300e5e688534ae20bd Mon Sep 17 00:00:00 2001 From: robert Date: Tue, 14 Jan 2025 16:59:55 +0800 Subject: [PATCH 005/184] Feat: Add all files in local_filter package Change: local_filter_LPF into ROS2 Note: haven't build yet --- .../local_filter/launch/local_filter.launch | 37 +++ .../launch/local_filter_whole.launch | 54 +++++ .../local_filter/param/local_filter.yaml | 114 +++++++++ .../param/local_filter_whole.yaml | 192 +++++++++++++++ .../local_filter/src/local_filter_LPF.cpp | 226 ++++++++++++++++++ 5 files changed, 623 insertions(+) create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch new file mode 100644 index 0000000..52e87c9 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch new file mode 100644 index 0000000..1e43c92 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml new file mode 100644 index 0000000..0ca05b3 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml @@ -0,0 +1,114 @@ +frequency: 100 +silent_tf_failure: false +sensor_timeout: 0.01 +two_d_mode: true + +smooth_lagged_data: false +history_length: 0.4 + +dynamic_process_noise_covariance: false + +predict_to_current_time: false + +print_diagnostics: false + +# debug +debug: false +debug_out_file: /path/to/debug/file.txt + +# frames +map_frame: map +odom_frame: odom +base_link_frame: base_footprint +world_frame: odom +transform_time_offset: 0.05 +transform_timeout: 0 + +# sensors +# config: [x, y, z, +# r, p, y, +# x., y., z., +# r., p., y., +# x.., y.., z..] +odom0: odom +odom0_config: [false, false, false, + false, false, false, + true, true, false, + false, false, true, + false, false, false] +odom0_queue_size: 20 +odom0_differential: false +odom0_relative: false +odom0_nodelay: true + +odom0_twist_rejection_threshold: 100 + +imu0: imu/data_cov +imu0_config: [false, false, false, + false, false, false, + false, false, false, + false, false, true, + true, true, false] +imu0_queue_size: 100 +imu0_differential: false +imu0_relative: false +imu0_nodelay: true + +imu0_twist_rejection_threshold: 1000000000000.0 +imu0_linear_acceleration_rejection_threshold: 1000000000000.0 + +imu0_remove_gravitational_acceleration: false + + +initial_state: [0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0] + +publish_tf: true +publish_acceleration: true + +# control +# acc_config: [x., y., z., r., p., y.] +use_control: false +stamped_control: false +control_timeout: 0.2 +control_config: [true, true, false, false, false, true] +acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] +deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] +acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] +deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + +# config: [x, y, z, r, p, y, x., y., z., r., p., y., x.., y.., z..] +process_noise_covariance: [0.005, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.005, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.006, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + +initial_estimate_covariance: [0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml new file mode 100644 index 0000000..6b8f8e9 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml @@ -0,0 +1,192 @@ +# --------------------------- +# -------- Rosserial -------- +# --------------------------- +rosserial_server_dp: + port: "/dev/USB0-3" # not used? + +# --------------------------- +# ------ Odometry ndoe ------ +# --------------------------- +odometry_node: + # Active this node + active: true + + # Set publish to this node + publish: true + + # Open param service + update_params: false + + # Covariance for "const" part + covariance_x: 0.001 + covariance_y: 0.001 + covariance_z: 0.001 + covariance_vx: 0.0042 + covariance_vy: 0.0042 + covariance_vz: 0.005 + + # Covariance for "multiple" part + covariance_multi_vx: 0. + covariance_multi_vy: 0. + covariance_multi_vz: 0. + + # Dynamic adjustment from : + # True: (ns)/cmd_vel + # False: (ns)/final_pose + using_nav_vel_cb: false + + # Open if STM has integral information + use_stm_integral: false + + # Open Dynamic reconfigure service + using_dynamic_reconf: true + +# ---------------------- +# ------ IMU node ------ +# ---------------------- +imu_node: + # Set the usage of the node + active: true + publish: true + + # Open param service + update_params: false + + # Covariance for "const" part + covariance_vx: 0.005 + covariance_vy: 0.005 + covariance_vz: 0.001 + covariance_ax: 0.1 + covariance_ay: 0.1 + covariance_az: 0.1 + + # Covariance for "multiple" part + cov_multi_vel: 0.2 + cov_multi_acl: 0.2 + + # Use which topic to dynamic adjust covariance + using_nav_vel_cb: false + + # Low pass filter -> beleive previous + filter_prev: 0.1 + + using_dynamic_reconf: true + +# ---------------------- +# ------ EKF node ------ +# ---------------------- +ekf_velocity: + frequency: 100 + silent_tf_failure: false + sensor_timeout: 0.01 + two_d_mode: true + + smooth_lagged_data: false + history_length: 0.4 + + dynamic_process_noise_covariance: false + + predict_to_current_time: false + + print_diagnostics: false + + # debug + debug: false + debug_out_file: /path/to/debug/file.txt + + # frames + map_frame: map + odom_frame: odom + base_link_frame: base_footprint + world_frame: odom + transform_time_offset: 0.0 + transform_timeout: 0 + + # sensors + # config: [x, y, z, + # r, p, y, + # x., y., z., + # r., p., y., + # x.., y.., z..] + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + odom0_queue_size: 20 + odom0_differential: false + odom0_relative: false + odom0_nodelay: true + + odom0_twist_rejection_threshold: 100 + + imu0: imu/data_cov + imu0_config: [false, false, false, + false, false, false, + false, false, false, + false, false, true, + false, false, false] + imu0_queue_size: 100 + imu0_differential: false + imu0_relative: false + imu0_nodelay: true + + imu0_twist_rejection_threshold: 1000000000000.0 + imu0_linear_acceleration_rejection_threshold: 1000000000000.0 + + imu0_remove_gravitational_acceleration: false + + + initial_state: [0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0] + + publish_tf: true + publish_acceleration: true + + # control + # acc_config: [x., y., z., r., p., y.] + use_control: false + stamped_control: false + control_timeout: 0.2 + control_config: [true, true, false, false, false, true] + acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] + deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] + acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] + deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + + # config: [x, y, z, r, p, y, x., y., z., r., p., y., x.., y.., z..] + process_noise_covariance: [1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + + initial_estimate_covariance: [0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-4, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp new file mode 100644 index 0000000..72799c3 --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -0,0 +1,226 @@ +#include "rclcpp/rclcpp.hpp" // +// #include +// msg +#include "nav_msgs/msg/odometry.hpp" // +#include "sensor_msgs/msg/imu.hpp" // +#include "geometry_msgs/msg/poseWithCovarianceStamped.hpp" // +// #include +// matrix calulation +#include +#include +// tf2 +#include +#include +#include +#include +#include +#include + +struct RobotState +{ + Eigen::Vector3d mu; + Eigen::Matrix3d sigma; +}; + +class GlobalFilterNode { +public: + // GlobalFilterNode(ros::NodeHandle& nh, ros::NodeHandle& nh_local) : nh_(nh), nh_local_(nh_local){ + GlobalFilterNode(std::shared_ptr nh, std::shared_ptr nh_local) : + nh_(nh), nh_local_(nh_local){ + // Initialize filter coefficients and initial values + linear_x_ = 0.0; + linear_y_ = 0.0; + angular_z_ = 0.0; + + // nh_local_.param("LPF_alpha_x", alpha_x, 0.5); //filter coefficient + // nh_local_.param("LPF_alpha_y", alpha_y, 0.5); //filter coefficient + // nh_local_.param("linear_cov_max", linear_cov_max_, 0.1); + // nh_local_.param("angular_cov_max", angular_cov_max_, 0.05); + nh_local_.declare_parameter(alpha_x, 0.5); // filter coefficient + nh_local_.declare_parameter(alpha_y, 0.5); // filter coefficient + nh_local_.declare_parameter(linear_cov_max_, 0.1); + nh_local_.declare_parameter(angular_cov_max_, 0.05); + + // setpose_sub_ = nh_.subscribe("initialpose", 50, &GlobalFilterNode::setposeCallback, this); + // odom_sub_ = nh_.subscribe("odom", 10, &GlobalFilterNode::odomCallback, this); + // imu_sub_ = nh_.subscribe("imu/data_cov", 10, &GlobalFilterNode::imuCallback, this); + setpose_sub_ = nh_.create_subscribtion( + "initialpose", 50, std::bind(&GlobalFilterNode::setposeCallback, this)); + odom_sub_ = nh_.create_subscribtion( + "odom", 10, std::bind(&GlobalFilterNode::odomCallback, this)); + imu_sub_ = nh_.create_subscription( + "imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this)); + + // global_filter_pub_ = nh_.advertise("local_filter", 100); + global_filter_pub_ = nh_.create_publisher("local_filter", 100); + } + + void diff_model(double v, double w, double dt) + { + double theta = robotstate_.mu(2); + double s = sin(theta); double s_ = sin(theta + w * dt); + double c = cos(theta); double c_ = cos(theta + w * dt); + + if ((w < 0.00001) && (w > -0.00001)){ + robotstate_.mu = robotstate_.mu + Eigen::Vector3d{ v * c * dt, v * s * dt, 0.0 }; + }else{ + robotstate_.mu = robotstate_.mu + Eigen::Vector3d{ v * (-s + s_) / w, v * (c - c_) / w, w * dt }; + } + robotstate_.mu(2) = angleLimitChecking(robotstate_.mu(2)); + } + + void omni_model(double v_x, double v_y, double w, double dt) + { + /* ekf prediction function for omni wheel */ + Eigen::Vector3d d_state; + + d_state << (v_x * dt), (v_y * dt), (w * dt); + + double theta_ = robotstate_.mu(2) + d_state(2) / 2; + double s__theta = sin(theta_); + double c__theta = cos(theta_); + + Eigen::Matrix3d A; + A << 1, 0, 0, 0, 1, 0, 0, 0, 1; + + Eigen::Matrix3d B; + B << c__theta, -s__theta, 0, s__theta, c__theta, 0, 0, 0, 1; + + Eigen::Matrix3d cov_past; + cov_past = robotstate_.sigma; + + /* Update robot state mean */ + robotstate_.mu = A * robotstate_.mu + B * d_state; + } + + // void setposeCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& pose_msg) + void setposeCallback(const geometry_msgs::msg::PoseWithCovarianceStamped & pose_msg) const + { + double x = pose_msg->pose.pose.position.x; + double y = pose_msg->pose.pose.position.y; + + tf2::Quaternion q; + tf2::fromMsg(pose_msg->pose.pose.orientation, q); + tf2::Matrix3x3 qt(q); + double _, yaw; + qt.getRPY(_, _, yaw); + + robotstate_.mu(0) = x; + robotstate_.mu(1) = y; + robotstate_.mu(2) = yaw; + + robotstate_.sigma(0, 0) = pose_msg->pose.covariance[0]; // x-x + robotstate_.sigma(0, 1) = pose_msg->pose.covariance[1]; // x-y + robotstate_.sigma(0, 2) = pose_msg->pose.covariance[5]; // x-theta + robotstate_.sigma(1, 0) = pose_msg->pose.covariance[6]; // y-x + robotstate_.sigma(1, 1) = pose_msg->pose.covariance[7]; // y-y + robotstate_.sigma(1, 2) = pose_msg->pose.covariance[11]; // y-theta + robotstate_.sigma(2, 0) = pose_msg->pose.covariance[30]; // theta-x + robotstate_.sigma(2, 1) = pose_msg->pose.covariance[31]; // theta-y + robotstate_.sigma(2, 2) = pose_msg->pose.covariance[35]; // theta-theta + } + + // void odomCallback(const nav_msgs::Odometry:ConstPtr& odom_msg) { + void odomCallback(const nav_msgs::msg::Odometry & odom_msg) const{ + // get velocity data + twist_x_ = odom_msg->twist.twist.linear.x; + twist_y_ = odom_msg->twist.twist.linear.y; + // Apply low-pass filter to linear xy from odom + linear_x_ = alpha_x * odom_msg->twist.twist.linear.x + (1 - alpha_x) * linear_x_; + linear_y_ = alpha_y * odom_msg->twist.twist.linear.y + (1 - alpha_y) * linear_y_; + linear_x_cov_ = std::min(linear_cov_max_, odom_msg->twist.covariance[0]); + linear_y_cov_ = std::min(linear_cov_max_, odom_msg->twist.covariance[7]); + } + + // void imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg) { + void imuCallback(const sensor_msgs::msg::Imu & imu_msg) { + angular_z_ = imu_msg->angular_velocity.z; + local_filter_pub(imu_msg->header.stamp, std::min(angular_cov_max_, imu_msg->angular_velocity_covariance[8])); //cov_max + prev_stamp_ = imu_msg->header.stamp; + } + + // void local_filter_pub(ros::Time stamp, double imu_cov) + void local_filter_pub(rclcpp::Time stamp, double imu_cov) + { + // Publish global_filter message + nav_msgs::Odometry global_filter_msg; + global_filter_msg.header.stamp = stamp; // imu callback stamp + //velocity + global_filter_msg.twist.twist.linear.x = linear_x_; //filtered x velocity + global_filter_msg.twist.twist.linear.y = linear_y_; + global_filter_msg.twist.twist.angular.z = angular_z_; //raw imu data + //pose + global_filter_msg.pose.pose.position.x = robotstate_.mu(0); + global_filter_msg.pose.pose.position.y = robotstate_.mu(1); + tf2::Quaternion quaternion_; + quaternion_.setRPY( 0, 0, robotstate_.mu(2) ); + quaternion_ = quaternion_.normalize(); + global_filter_msg.pose.pose.orientation.z = quaternion_.getZ(); + global_filter_msg.pose.pose.orientation.w = quaternion_.getW(); + //covariance + global_filter_msg.twist.covariance[0] = linear_x_cov_; //x-x + global_filter_msg.twist.covariance[7] = linear_y_cov_; //y-y + global_filter_msg.twist.covariance[35] = imu_cov; //theta-theta + global_filter_pub_.publish(global_filter_msg); + } + + double angleLimitChecking(double theta) + { + while (theta > M_PI) + { + theta -= M_PI * 2; + } + while (theta <= -M_PI) + { + theta += M_PI * 2; + } + return theta; + } + +private: + // ros::NodeHandle nh_; + // ros::NodeHandle nh_local_; + // ros::Subscriber odom_sub_; + // ros::Subscriber imu_sub_; + // ros::Subscriber setpose_sub_; + // ros::Publisher global_filter_pub_; + std::shared_ptr nh_; + std::shared_ptr nh_local_; + rclcpp::Subscription::SharedPtr odom_sub_; + rclcpp::Subscription::SharedPtr imu_sub_; + rclcpp::Subscription::SharedPtr setpose_sub_; + rclcpp::Publisher::SharedPtr global_filter_pub_; + + //raw + double twist_x_; + double twist_y_; + //filtered + double alpha_x; // filter coefficient + double alpha_y; // filter coefficient + double linear_x_; + double linear_x_cov_; + double linear_y_; + double linear_y_cov_; + double angular_z_; + // double imu_cov_; + RobotState robotstate_; + // ros::Time prev_stamp_; + rclcpp::Timer prev_stamp_; + double linear_cov_max_; + double angular_cov_max_; +}; + +int main(int argc, char** argv) { + // ros::init(argc, argv, "global_filter_LPF"); + // ros::NodeHandle nh; + // ros::NodeHandle nh_local("~"); + // GlobalFilterNode global_filter_node(nh, nh_local); + // ros::spin(); + rclcpp::init(argc, argv); + std::shared_ptr nh = rclcpp::Node::make_shared(); + std::shared_ptr nh_local = rclcpp::Node::make_shared("~"); + GlobalFilterNode global_filter_node(nh, nh_local); + rclcpp::spin(); + rclcpp::shutdown(); + return 0; +} From 665034eeea28da1943d12fdca253fc27d8865c6e Mon Sep 17 00:00:00 2001 From: robert Date: Tue, 14 Jan 2025 17:38:48 +0800 Subject: [PATCH 006/184] Modify: launch files to ROS2 Modify: Add get_parameter in local_filter_LPF Note: ros1 code in local_filter_LPF is commented --- .../local/local_filter/launch/local_filter.launch | 4 ++-- .../local_filter/launch/local_filter_whole.launch | 4 ++-- .../local/local_filter/src/local_filter_LPF.cpp | 13 +++++++++---- 3 files changed, 13 insertions(+), 8 deletions(-) diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch index 52e87c9..db4b70d 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch +++ b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch @@ -6,9 +6,9 @@ - + - + diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch index 1e43c92..88fe4b1 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch +++ b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch @@ -10,7 +10,7 @@ - + - + diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index 72799c3..654330c 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -36,10 +36,15 @@ class GlobalFilterNode { // nh_local_.param("LPF_alpha_y", alpha_y, 0.5); //filter coefficient // nh_local_.param("linear_cov_max", linear_cov_max_, 0.1); // nh_local_.param("angular_cov_max", angular_cov_max_, 0.05); - nh_local_.declare_parameter(alpha_x, 0.5); // filter coefficient - nh_local_.declare_parameter(alpha_y, 0.5); // filter coefficient - nh_local_.declare_parameter(linear_cov_max_, 0.1); - nh_local_.declare_parameter(angular_cov_max_, 0.05); + this->declare_parameter("LPF_alpha_x", 0.5); // filter coefficient + this->declare_parameter("LPF_alpha_y", 0.5); // filter coefficient + this->declare_parameter("linear_cov_max", 0.1); + this->declare_parameter("angular_cov_max", 0.05); + + alpha_x=this->get_parameter("LPF_alpha_x"); + alpha_y=this->get_parameter("LPF_alpha_y"); + linear_cov_max_=this->get_parameter("linear_cov_max"); + angular_cov_max_=this->get_parameter("angular_cov_max"); // setpose_sub_ = nh_.subscribe("initialpose", 50, &GlobalFilterNode::setposeCallback, this); // odom_sub_ = nh_.subscribe("odom", 10, &GlobalFilterNode::odomCallback, this); From 493b3bc3c10c5add1200b08e6dd1d1039674cd1d Mon Sep 17 00:00:00 2001 From: robert Date: Tue, 14 Jan 2025 19:25:15 +0800 Subject: [PATCH 007/184] Modify: yaml files to ROS2 --- .../local_filter/param/local_filter.yaml | 231 +++++++------ .../param/local_filter_whole.yaml | 324 +++++++++--------- 2 files changed, 281 insertions(+), 274 deletions(-) diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml index 0ca05b3..aebf2a8 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml +++ b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml @@ -1,114 +1,117 @@ -frequency: 100 -silent_tf_failure: false -sensor_timeout: 0.01 -two_d_mode: true - -smooth_lagged_data: false -history_length: 0.4 - -dynamic_process_noise_covariance: false - -predict_to_current_time: false - -print_diagnostics: false - -# debug -debug: false -debug_out_file: /path/to/debug/file.txt - -# frames -map_frame: map -odom_frame: odom -base_link_frame: base_footprint -world_frame: odom -transform_time_offset: 0.05 -transform_timeout: 0 - -# sensors -# config: [x, y, z, -# r, p, y, -# x., y., z., -# r., p., y., -# x.., y.., z..] -odom0: odom -odom0_config: [false, false, false, - false, false, false, - true, true, false, - false, false, true, - false, false, false] -odom0_queue_size: 20 -odom0_differential: false -odom0_relative: false -odom0_nodelay: true - -odom0_twist_rejection_threshold: 100 - -imu0: imu/data_cov -imu0_config: [false, false, false, - false, false, false, - false, false, false, - false, false, true, - true, true, false] -imu0_queue_size: 100 -imu0_differential: false -imu0_relative: false -imu0_nodelay: true - -imu0_twist_rejection_threshold: 1000000000000.0 -imu0_linear_acceleration_rejection_threshold: 1000000000000.0 - -imu0_remove_gravitational_acceleration: false - - -initial_state: [0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0] - -publish_tf: true -publish_acceleration: true - -# control -# acc_config: [x., y., z., r., p., y.] -use_control: false -stamped_control: false -control_timeout: 0.2 -control_config: [true, true, false, false, false, true] -acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] -deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] -acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] -deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] - -# config: [x, y, z, r, p, y, x., y., z., r., p., y., x.., y.., z..] -process_noise_covariance: [0.005, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.005, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.006, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.2, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] - -initial_estimate_covariance: [0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-6, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + +/**: + ros__parameters: + frequency: 100 + silent_tf_failure: false + sensor_timeout: 0.01 + two_d_mode: true + + smooth_lagged_data: false + history_length: 0.4 + + dynamic_process_noise_covariance: false + + predict_to_current_time: false + + print_diagnostics: false + + # debug + debug: false + debug_out_file: /path/to/debug/file.txt + + # frames + map_frame: map + odom_frame: odom + base_link_frame: base_footprint + world_frame: odom + transform_time_offset: 0.05 + transform_timeout: 0 + + # sensors + # config: [x, y, z, + # r, p, y, + # x., y., z., + # r., p., y., + # x.., y.., z..] + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + odom0_queue_size: 20 + odom0_differential: false + odom0_relative: false + odom0_nodelay: true + + odom0_twist_rejection_threshold: 100 + + imu0: imu/data_cov + imu0_config: [false, false, false, + false, false, false, + false, false, false, + false, false, true, + true, true, false] + imu0_queue_size: 100 + imu0_differential: false + imu0_relative: false + imu0_nodelay: true + + imu0_twist_rejection_threshold: 1000000000000.0 + imu0_linear_acceleration_rejection_threshold: 1000000000000.0 + + imu0_remove_gravitational_acceleration: false + + + initial_state: [0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0] + + publish_tf: true + publish_acceleration: true + + # control + # acc_config: [x., y., z., r., p., y.] + use_control: false + stamped_control: false + control_timeout: 0.2 + control_config: [true, true, false, false, false, true] + acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] + deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] + acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] + deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + + # config: [x, y, z, r, p, y, x., y., z., r., p., y., x.., y.., z..] + process_noise_covariance: [0.005, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.005, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.006, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + + initial_estimate_covariance: [0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml index 6b8f8e9..0ec0294 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml +++ b/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml @@ -2,191 +2,195 @@ # -------- Rosserial -------- # --------------------------- rosserial_server_dp: - port: "/dev/USB0-3" # not used? + ros__parameters: + port: "/dev/USB0-3" # not used? # --------------------------- # ------ Odometry ndoe ------ # --------------------------- odometry_node: - # Active this node - active: true + ros__parameters: + # Active this node + active: true - # Set publish to this node - publish: true + # Set publish to this node + publish: true - # Open param service - update_params: false + # Open param service + update_params: false - # Covariance for "const" part - covariance_x: 0.001 - covariance_y: 0.001 - covariance_z: 0.001 - covariance_vx: 0.0042 - covariance_vy: 0.0042 - covariance_vz: 0.005 + # Covariance for "const" part + covariance_x: 0.001 + covariance_y: 0.001 + covariance_z: 0.001 + covariance_vx: 0.0042 + covariance_vy: 0.0042 + covariance_vz: 0.005 - # Covariance for "multiple" part - covariance_multi_vx: 0. - covariance_multi_vy: 0. - covariance_multi_vz: 0. + # Covariance for "multiple" part + covariance_multi_vx: 0. + covariance_multi_vy: 0. + covariance_multi_vz: 0. - # Dynamic adjustment from : - # True: (ns)/cmd_vel - # False: (ns)/final_pose - using_nav_vel_cb: false + # Dynamic adjustment from : + # True: (ns)/cmd_vel + # False: (ns)/final_pose + using_nav_vel_cb: false - # Open if STM has integral information - use_stm_integral: false + # Open if STM has integral information + use_stm_integral: false - # Open Dynamic reconfigure service - using_dynamic_reconf: true + # Open Dynamic reconfigure service + using_dynamic_reconf: true # ---------------------- # ------ IMU node ------ # ---------------------- imu_node: - # Set the usage of the node - active: true - publish: true + ros__parameters: + # Set the usage of the node + active: true + publish: true - # Open param service - update_params: false + # Open param service + update_params: false - # Covariance for "const" part - covariance_vx: 0.005 - covariance_vy: 0.005 - covariance_vz: 0.001 - covariance_ax: 0.1 - covariance_ay: 0.1 - covariance_az: 0.1 + # Covariance for "const" part + covariance_vx: 0.005 + covariance_vy: 0.005 + covariance_vz: 0.001 + covariance_ax: 0.1 + covariance_ay: 0.1 + covariance_az: 0.1 - # Covariance for "multiple" part - cov_multi_vel: 0.2 - cov_multi_acl: 0.2 + # Covariance for "multiple" part + cov_multi_vel: 0.2 + cov_multi_acl: 0.2 - # Use which topic to dynamic adjust covariance - using_nav_vel_cb: false + # Use which topic to dynamic adjust covariance + using_nav_vel_cb: false - # Low pass filter -> beleive previous - filter_prev: 0.1 + # Low pass filter -> beleive previous + filter_prev: 0.1 - using_dynamic_reconf: true + using_dynamic_reconf: true # ---------------------- # ------ EKF node ------ # ---------------------- ekf_velocity: - frequency: 100 - silent_tf_failure: false - sensor_timeout: 0.01 - two_d_mode: true - - smooth_lagged_data: false - history_length: 0.4 - - dynamic_process_noise_covariance: false - - predict_to_current_time: false - - print_diagnostics: false - - # debug - debug: false - debug_out_file: /path/to/debug/file.txt - - # frames - map_frame: map - odom_frame: odom - base_link_frame: base_footprint - world_frame: odom - transform_time_offset: 0.0 - transform_timeout: 0 - - # sensors - # config: [x, y, z, - # r, p, y, - # x., y., z., - # r., p., y., - # x.., y.., z..] - odom0: odom - odom0_config: [false, false, false, - false, false, false, - true, true, false, - false, false, true, - false, false, false] - odom0_queue_size: 20 - odom0_differential: false - odom0_relative: false - odom0_nodelay: true - - odom0_twist_rejection_threshold: 100 - - imu0: imu/data_cov - imu0_config: [false, false, false, - false, false, false, - false, false, false, - false, false, true, - false, false, false] - imu0_queue_size: 100 - imu0_differential: false - imu0_relative: false - imu0_nodelay: true - - imu0_twist_rejection_threshold: 1000000000000.0 - imu0_linear_acceleration_rejection_threshold: 1000000000000.0 - - imu0_remove_gravitational_acceleration: false - - - initial_state: [0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0] - - publish_tf: true - publish_acceleration: true - - # control - # acc_config: [x., y., z., r., p., y.] - use_control: false - stamped_control: false - control_timeout: 0.2 - control_config: [true, true, false, false, false, true] - acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] - deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] - acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] - deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] - - # config: [x, y, z, r, p, y, x., y., z., r., p., y., x.., y.., z..] - process_noise_covariance: [1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] - - initial_estimate_covariance: [0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-4, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-4, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + ros__parameters: + frequency: 100 + silent_tf_failure: false + sensor_timeout: 0.01 + two_d_mode: true + + smooth_lagged_data: false + history_length: 0.4 + + dynamic_process_noise_covariance: false + + predict_to_current_time: false + + print_diagnostics: false + + # debug + debug: false + debug_out_file: /path/to/debug/file.txt + + # frames + map_frame: map + odom_frame: odom + base_link_frame: base_footprint + world_frame: odom + transform_time_offset: 0.0 + transform_timeout: 0 + + # sensors + # config: [x, y, z, + # r, p, y, + # x., y., z., + # r., p., y., + # x.., y.., z..] + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + odom0_queue_size: 20 + odom0_differential: false + odom0_relative: false + odom0_nodelay: true + + odom0_twist_rejection_threshold: 100 + + imu0: imu/data_cov + imu0_config: [false, false, false, + false, false, false, + false, false, false, + false, false, true, + false, false, false] + imu0_queue_size: 100 + imu0_differential: false + imu0_relative: false + imu0_nodelay: true + + imu0_twist_rejection_threshold: 1000000000000.0 + imu0_linear_acceleration_rejection_threshold: 1000000000000.0 + + imu0_remove_gravitational_acceleration: false + + + initial_state: [0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0] + + publish_tf: true + publish_acceleration: true + + # control + # acc_config: [x., y., z., r., p., y.] + use_control: false + stamped_control: false + control_timeout: 0.2 + control_config: [true, true, false, false, false, true] + acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] + deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] + acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] + deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + + # config: [x, y, z, r, p, y, x., y., z., r., p., y., x.., y.., z..] + process_noise_covariance: [1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-6, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-3, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + + initial_estimate_covariance: [0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-4, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] From 1fb1abe453c09de3a7e4e813745563403dc3fa9c Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 14 Jan 2025 22:34:05 +0800 Subject: [PATCH 008/184] Add: (BeaconProb) Add init pkg w/ basic publisher --- .../global/lidar_localization_pkg/LICENSE | 202 ++++++++++++++++++ .../lidar_localization_pkg/__init__.py | 0 .../lidar_member_function.py | 39 ++++ .../global/lidar_localization_pkg/package.xml | 27 +++ .../resource/lidar_localization_pkg | 0 .../global/lidar_localization_pkg/setup.cfg | 4 + .../global/lidar_localization_pkg/setup.py | 41 ++++ .../test/test_copyright.py | 25 +++ .../test/test_flake8.py | 25 +++ .../test/test_pep257.py | 23 ++ 10 files changed, 386 insertions(+) create mode 100644 localization-devel-ws/global/lidar_localization_pkg/LICENSE create mode 100644 localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/__init__.py create mode 100644 localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py create mode 100644 localization-devel-ws/global/lidar_localization_pkg/package.xml create mode 100644 localization-devel-ws/global/lidar_localization_pkg/resource/lidar_localization_pkg create mode 100644 localization-devel-ws/global/lidar_localization_pkg/setup.cfg create mode 100644 localization-devel-ws/global/lidar_localization_pkg/setup.py create mode 100644 localization-devel-ws/global/lidar_localization_pkg/test/test_copyright.py create mode 100644 localization-devel-ws/global/lidar_localization_pkg/test/test_flake8.py create mode 100644 localization-devel-ws/global/lidar_localization_pkg/test/test_pep257.py diff --git a/localization-devel-ws/global/lidar_localization_pkg/LICENSE b/localization-devel-ws/global/lidar_localization_pkg/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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0000000..e69de29 diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py new file mode 100644 index 0000000..376b8a8 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -0,0 +1,39 @@ +import rclpy +from rclpy.node import Node + +from std_msgs.msg import String # add to package.xml + + +class MinimalPublisher(Node): # inherit from Node + + def __init__(self): + super().__init__('lidar_localization_node') # name of the node + self.publisher_ = self.create_publisher(String, 'topic', 10) + timer_period = 0.5 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.i = 0 + + def timer_callback(self): + msg = String() + msg.data = 'Hello World: %d' % self.i + self.publisher_.publish(msg) + self.get_logger().info('Publishing: "%s"' % msg.data) + self.i += 1 + + +def main(args=None): + rclpy.init(args=args) + + minimal_publisher = MinimalPublisher() + + rclpy.spin(minimal_publisher) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + minimal_publisher.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/package.xml b/localization-devel-ws/global/lidar_localization_pkg/package.xml new file mode 100644 index 0000000..4ca31fb --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/package.xml @@ -0,0 +1,27 @@ + + + + lidar_localization_pkg + 0.0.0 + Eurobot Localization utilizing LiDAR scan and triangulation + user + Apache-2.0 + + rclpy + + std_msgs + sensor_msgs + geometry_msgs + nav_msgs + tf2_ros + + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/localization-devel-ws/global/lidar_localization_pkg/resource/lidar_localization_pkg b/localization-devel-ws/global/lidar_localization_pkg/resource/lidar_localization_pkg new file mode 100644 index 0000000..e69de29 diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.cfg b/localization-devel-ws/global/lidar_localization_pkg/setup.cfg new file mode 100644 index 0000000..7fcbfcb --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/lidar_localization_pkg +[install] +install_scripts=$base/lib/lidar_localization_pkg diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py new file mode 100644 index 0000000..5a6e9dc --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -0,0 +1,41 @@ +import os +from glob import glob +from setuptools import setup + +package_name = 'lidar_localization_pkg' + +setup( + name=package_name, + version='0.0.0', + # Packages to export + packages=[package_name], + # Files we want to install, specifically launch files + data_files=[ + # Install marker file in the package index + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + # Include our package.xml file + (os.path.join('share', package_name), ['package.xml']), + # Include all launch files. + (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='jossiew621', + maintainer_email='jossiew621@gapp.nthu.edu.tw', + keywords=['scan', 'beacon', 'localization'], + classifiers=[ + 'Intended Audience :: Developers', + 'License :: OSI Approved :: Apache-2.0 License', + 'Programming Language :: Python', + 'Topic :: Software Development', + ], + description='Eurobot localization using LiDAR scan, probability and triangulation', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'lidar_localization = lidar_localization_pkg.lidar_member_function:main' + ], + }, +) diff --git a/localization-devel-ws/global/lidar_localization_pkg/test/test_copyright.py b/localization-devel-ws/global/lidar_localization_pkg/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 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. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/localization-devel-ws/global/lidar_localization_pkg/test/test_flake8.py b/localization-devel-ws/global/lidar_localization_pkg/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 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. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/localization-devel-ws/global/lidar_localization_pkg/test/test_pep257.py b/localization-devel-ws/global/lidar_localization_pkg/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 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. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From c1afbca1693ad3f4bc182dfbcb8816b23f0544f9 Mon Sep 17 00:00:00 2001 From: robert Date: Wed, 15 Jan 2025 15:29:49 +0800 Subject: [PATCH 009/184] Update: colcon build ok --- .../local/local_filter/CMakeLists.txt | 46 ++++++ .../local/local_filter/cmake/Findeigen.cmake | 92 ++++++++++++ .../local/local_filter/package.xml | 7 + .../local_filter/src/local_filter_LPF.cpp | 140 ++++++++---------- 4 files changed, 204 insertions(+), 81 deletions(-) create mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt b/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt index 4aa726c..4e2886d 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt +++ b/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt @@ -5,9 +5,55 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() +# list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_BINARY_DIR}/cmake) + # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +include_directories( EIGEN3_INCLUDE_DIR ) +find_package(Eigen3 REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) + +# add executables +add_executable(local_filter_LPF src/local_filter_LPF.cpp) +ament_target_dependencies( + local_filter_LPF + rclcpp nav_msgs + sensor_msgs + geometry_msgs + Eigen3 + tf2 + tf2_ros + tf2_geometry_msgs +) + + +# install executables +install(TARGETS + local_filter_LPF + DESTINATION lib/${PROJECT_NAME} +) + +install( + DIRECTORY include/ + DESTINATION include/${PROJECT_NAME} +) + +# install( +# # TARGETS local_filter_LPF +# EXPORT export_${PROJECT_NAME} +# LIBRARY DESTINATION lib +# ARCHIVE DESTINATION lib +# RUNTIME DESTINATION bin +# ) + +# ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) +# ament_export_dependencies(some_dependency) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake b/localization-ws/src/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake new file mode 100644 index 0000000..7e0e35c --- /dev/null +++ b/localization-ws/src/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake @@ -0,0 +1,92 @@ +# +# NOTICE! This module is deprecated and the FindEigen3.cmake which is +# distributed with Eigen should now be used. +# + +############################################################################### +# +# CMake script for finding the Eigen library. +# +# http://eigen.tuxfamily.org/index.php?title=Main_Page +# +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD +# license. +# +# +# Input variables: +# +# - Eigen_ROOT_DIR (optional): When specified, header files and libraries +# will be searched for in `${Eigen_ROOT_DIR}/include` and +# `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order +# will be ignored. When unspecified, the default CMake search order is used. +# This variable can be specified either as a CMake or environment variable. +# If both are set, preference is given to the CMake variable. +# Use this variable for finding packages installed in a nonstandard location, +# or for enforcing that one of multiple package installations is picked up. +# +# Cache variables (not intended to be used in CMakeLists.txt files) +# +# - Eigen_INCLUDE_DIR: Absolute path to package headers. +# +# +# Output variables: +# +# - Eigen_FOUND: Boolean that indicates if the package was found +# - Eigen_INCLUDE_DIRS: Paths to the necessary header files +# - Eigen_VERSION: Version of Eigen library found +# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen +# +# +# Example usage: +# +# # Passing the version means Eigen_FOUND will only be TRUE if a +# # version >= the provided version is found. +# find_package(Eigen 3.1.2) +# if(NOT Eigen_FOUND) +# # Error handling +# endif() +# ... +# add_definitions(${Eigen_DEFINITIONS}) +# ... +# include_directories(${Eigen_INCLUDE_DIRS} ...) +# +############################################################################### + +find_package(PkgConfig) +pkg_check_modules(PC_EIGEN eigen3) +set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER}) + +message(WARNING + "The FindEigen.cmake Module in the cmake_modules package is deprecated.\n" + "Please use the FindEigen3.cmake Module provided with Eigen. " + "Change instances of find_package(Eigen) to find_package(Eigen3). " + "Check the FindEigen3.cmake Module for the resulting CMake variable names.\n" +) + +find_path(EIGEN_INCLUDE_DIR Eigen/Core + HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} + "${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}" + "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}" # Backwards Compatibility + PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen" + "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0" + PATH_SUFFIXES eigen3 include/eigen3 include) + +set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR) + +mark_as_advanced(EIGEN_INCLUDE_DIR) + +if(EIGEN_FOUND) + message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})") +endif(EIGEN_FOUND) + + +set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) +set(Eigen_FOUND ${EIGEN_FOUND}) +set(Eigen_VERSION ${EIGEN_VERSION}) +set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS}) diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/package.xml b/localization-ws/src/localization-devel-ws/local/local_filter/package.xml index b8f41a5..a152f28 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/package.xml +++ b/localization-ws/src/localization-devel-ws/local/local_filter/package.xml @@ -10,6 +10,13 @@ ament_cmake rclcpp + nav_msgs + sensor_msgs + geometry_msgs + Eigen3 + tf2 + tf2_ros + tf2_geometry_msgs ament_lint_auto ament_lint_common diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index 654330c..8d2c986 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -1,20 +1,18 @@ -#include "rclcpp/rclcpp.hpp" // -// #include +#include "rclcpp/rclcpp.hpp" // msg -#include "nav_msgs/msg/odometry.hpp" // -#include "sensor_msgs/msg/imu.hpp" // -#include "geometry_msgs/msg/poseWithCovarianceStamped.hpp" // -// #include +#include "nav_msgs/msg/odometry.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp" // matrix calulation -#include +#include #include // tf2 #include #include #include -#include +#include "geometry_msgs/msg/point_stamped.hpp" #include -#include +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" struct RobotState { @@ -24,7 +22,6 @@ struct RobotState class GlobalFilterNode { public: - // GlobalFilterNode(ros::NodeHandle& nh, ros::NodeHandle& nh_local) : nh_(nh), nh_local_(nh_local){ GlobalFilterNode(std::shared_ptr nh, std::shared_ptr nh_local) : nh_(nh), nh_local_(nh_local){ // Initialize filter coefficients and initial values @@ -32,32 +29,21 @@ class GlobalFilterNode { linear_y_ = 0.0; angular_z_ = 0.0; - // nh_local_.param("LPF_alpha_x", alpha_x, 0.5); //filter coefficient - // nh_local_.param("LPF_alpha_y", alpha_y, 0.5); //filter coefficient - // nh_local_.param("linear_cov_max", linear_cov_max_, 0.1); - // nh_local_.param("angular_cov_max", angular_cov_max_, 0.05); - this->declare_parameter("LPF_alpha_x", 0.5); // filter coefficient - this->declare_parameter("LPF_alpha_y", 0.5); // filter coefficient - this->declare_parameter("linear_cov_max", 0.1); - this->declare_parameter("angular_cov_max", 0.05); - - alpha_x=this->get_parameter("LPF_alpha_x"); - alpha_y=this->get_parameter("LPF_alpha_y"); - linear_cov_max_=this->get_parameter("linear_cov_max"); - angular_cov_max_=this->get_parameter("angular_cov_max"); - - // setpose_sub_ = nh_.subscribe("initialpose", 50, &GlobalFilterNode::setposeCallback, this); - // odom_sub_ = nh_.subscribe("odom", 10, &GlobalFilterNode::odomCallback, this); - // imu_sub_ = nh_.subscribe("imu/data_cov", 10, &GlobalFilterNode::imuCallback, this); - setpose_sub_ = nh_.create_subscribtion( - "initialpose", 50, std::bind(&GlobalFilterNode::setposeCallback, this)); - odom_sub_ = nh_.create_subscribtion( - "odom", 10, std::bind(&GlobalFilterNode::odomCallback, this)); - imu_sub_ = nh_.create_subscription( - "imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this)); - - // global_filter_pub_ = nh_.advertise("local_filter", 100); - global_filter_pub_ = nh_.create_publisher("local_filter", 100); + nh_local_->declare_parameter("LPF_alpha_x", 0.5); // filter coefficient + nh_local_->declare_parameter("LPF_alpha_y", 0.5); // filter coefficient + nh_local_->declare_parameter("linear_cov_max", 0.1); + nh_local_->declare_parameter("angular_cov_max", 0.05); + + alpha_x=nh_local_->get_parameter("LPF_alpha_x").as_double(); + alpha_y=nh_local_->get_parameter("LPF_alpha_y").as_double(); + linear_cov_max_=nh_local_->get_parameter("linear_cov_max").as_double(); + angular_cov_max_=nh_local_->get_parameter("angular_cov_max").as_double(); + + setpose_sub_ = nh_->create_subscription("initialpose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); + odom_sub_ = nh_->create_subscription("odom", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); + imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); + + global_filter_pub_ = nh_->create_publisher("local_filter", 100); } void diff_model(double v, double w, double dt) @@ -98,14 +84,13 @@ class GlobalFilterNode { robotstate_.mu = A * robotstate_.mu + B * d_state; } - // void setposeCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& pose_msg) - void setposeCallback(const geometry_msgs::msg::PoseWithCovarianceStamped & pose_msg) const + void setposeCallback(const geometry_msgs::msg::PoseWithCovarianceStamped & pose_msg) { - double x = pose_msg->pose.pose.position.x; - double y = pose_msg->pose.pose.position.y; + double x = pose_msg.pose.pose.position.x; + double y = pose_msg.pose.pose.position.y; tf2::Quaternion q; - tf2::fromMsg(pose_msg->pose.pose.orientation, q); + tf2::fromMsg(pose_msg.pose.pose.orientation, q); tf2::Matrix3x3 qt(q); double _, yaw; qt.getRPY(_, _, yaw); @@ -114,41 +99,38 @@ class GlobalFilterNode { robotstate_.mu(1) = y; robotstate_.mu(2) = yaw; - robotstate_.sigma(0, 0) = pose_msg->pose.covariance[0]; // x-x - robotstate_.sigma(0, 1) = pose_msg->pose.covariance[1]; // x-y - robotstate_.sigma(0, 2) = pose_msg->pose.covariance[5]; // x-theta - robotstate_.sigma(1, 0) = pose_msg->pose.covariance[6]; // y-x - robotstate_.sigma(1, 1) = pose_msg->pose.covariance[7]; // y-y - robotstate_.sigma(1, 2) = pose_msg->pose.covariance[11]; // y-theta - robotstate_.sigma(2, 0) = pose_msg->pose.covariance[30]; // theta-x - robotstate_.sigma(2, 1) = pose_msg->pose.covariance[31]; // theta-y - robotstate_.sigma(2, 2) = pose_msg->pose.covariance[35]; // theta-theta + robotstate_.sigma(0, 0) = pose_msg.pose.covariance[0]; // x-x + robotstate_.sigma(0, 1) = pose_msg.pose.covariance[1]; // x-y + robotstate_.sigma(0, 2) = pose_msg.pose.covariance[5]; // x-theta + robotstate_.sigma(1, 0) = pose_msg.pose.covariance[6]; // y-x + robotstate_.sigma(1, 1) = pose_msg.pose.covariance[7]; // y-y + robotstate_.sigma(1, 2) = pose_msg.pose.covariance[11]; // y-theta + robotstate_.sigma(2, 0) = pose_msg.pose.covariance[30]; // theta-x + robotstate_.sigma(2, 1) = pose_msg.pose.covariance[31]; // theta-y + robotstate_.sigma(2, 2) = pose_msg.pose.covariance[35]; // theta-theta } - // void odomCallback(const nav_msgs::Odometry:ConstPtr& odom_msg) { - void odomCallback(const nav_msgs::msg::Odometry & odom_msg) const{ + void odomCallback(const nav_msgs::msg::Odometry & odom_msg) { // get velocity data - twist_x_ = odom_msg->twist.twist.linear.x; - twist_y_ = odom_msg->twist.twist.linear.y; + twist_x_ = odom_msg.twist.twist.linear.x; + twist_y_ = odom_msg.twist.twist.linear.y; // Apply low-pass filter to linear xy from odom - linear_x_ = alpha_x * odom_msg->twist.twist.linear.x + (1 - alpha_x) * linear_x_; - linear_y_ = alpha_y * odom_msg->twist.twist.linear.y + (1 - alpha_y) * linear_y_; - linear_x_cov_ = std::min(linear_cov_max_, odom_msg->twist.covariance[0]); - linear_y_cov_ = std::min(linear_cov_max_, odom_msg->twist.covariance[7]); + linear_x_ = alpha_x * odom_msg.twist.twist.linear.x + (1 - alpha_x) * linear_x_; + linear_y_ = alpha_y * odom_msg.twist.twist.linear.y + (1 - alpha_y) * linear_y_; + linear_x_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[0]); + linear_y_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[7]); } - // void imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg) { void imuCallback(const sensor_msgs::msg::Imu & imu_msg) { - angular_z_ = imu_msg->angular_velocity.z; - local_filter_pub(imu_msg->header.stamp, std::min(angular_cov_max_, imu_msg->angular_velocity_covariance[8])); //cov_max - prev_stamp_ = imu_msg->header.stamp; + angular_z_ = imu_msg.angular_velocity.z; + local_filter_pub(imu_msg.header.stamp, std::min(angular_cov_max_, imu_msg.angular_velocity_covariance[8])); //cov_max + prev_stamp_ = imu_msg.header.stamp; } - // void local_filter_pub(ros::Time stamp, double imu_cov) void local_filter_pub(rclcpp::Time stamp, double imu_cov) { // Publish global_filter message - nav_msgs::Odometry global_filter_msg; + nav_msgs::msg::Odometry global_filter_msg; global_filter_msg.header.stamp = stamp; // imu callback stamp //velocity global_filter_msg.twist.twist.linear.x = linear_x_; //filtered x velocity @@ -166,7 +148,7 @@ class GlobalFilterNode { global_filter_msg.twist.covariance[0] = linear_x_cov_; //x-x global_filter_msg.twist.covariance[7] = linear_y_cov_; //y-y global_filter_msg.twist.covariance[35] = imu_cov; //theta-theta - global_filter_pub_.publish(global_filter_msg); + global_filter_pub_->publish(global_filter_msg); } double angleLimitChecking(double theta) @@ -183,12 +165,6 @@ class GlobalFilterNode { } private: - // ros::NodeHandle nh_; - // ros::NodeHandle nh_local_; - // ros::Subscriber odom_sub_; - // ros::Subscriber imu_sub_; - // ros::Subscriber setpose_sub_; - // ros::Publisher global_filter_pub_; std::shared_ptr nh_; std::shared_ptr nh_local_; rclcpp::Subscription::SharedPtr odom_sub_; @@ -209,23 +185,25 @@ class GlobalFilterNode { double angular_z_; // double imu_cov_; RobotState robotstate_; - // ros::Time prev_stamp_; - rclcpp::Timer prev_stamp_; + rclcpp::Time prev_stamp_; double linear_cov_max_; double angular_cov_max_; }; int main(int argc, char** argv) { - // ros::init(argc, argv, "global_filter_LPF"); - // ros::NodeHandle nh; - // ros::NodeHandle nh_local("~"); - // GlobalFilterNode global_filter_node(nh, nh_local); - // ros::spin(); + rclcpp::init(argc, argv); - std::shared_ptr nh = rclcpp::Node::make_shared(); - std::shared_ptr nh_local = rclcpp::Node::make_shared("~"); + + auto exec=std::make_shared(); + std::shared_ptr nh = rclcpp::Node::make_shared("nh"); + std::shared_ptr nh_local = rclcpp::Node::make_shared("nh_local"); GlobalFilterNode global_filter_node(nh, nh_local); - rclcpp::spin(); + + exec->add_node(nh); + exec->add_node(nh_local); + exec->spin(); + rclcpp::shutdown(); + return 0; } From 89416fef474abf096cdcdd671710a835015e1913 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 15 Jan 2025 22:06:30 +0800 Subject: [PATCH 010/184] Add: (BeaconProb) add the subscriber, tested --- .../lidar_member_function.py | 38 +++++++++++++------ 1 file changed, 27 insertions(+), 11 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 376b8a8..0bbfed9 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -3,35 +3,51 @@ from std_msgs.msg import String # add to package.xml - -class MinimalPublisher(Node): # inherit from Node +class LidarLocalization(Node): # inherit from Node def __init__(self): super().__init__('lidar_localization_node') # name of the node - self.publisher_ = self.create_publisher(String, 'topic', 10) - timer_period = 0.5 # seconds - self.timer = self.create_timer(timer_period, self.timer_callback) + # publisher + self.publisher_ = self.create_publisher(String, 'pub_topic', 10) + # timer_period = 0.5 # seconds + # self.timer = self.create_timer(timer_period, self.timer_callback) self.i = 0 - - def timer_callback(self): + # subscriber + self.subscription = self.create_subscription( + String, + 'chatter', + self.listener_callback, + 10) + self.subscription # prevent unused variable warning + + def listener_callback(self, msg): + self.get_logger().info('I heard: "%s"' % msg.data) msg = String() msg.data = 'Hello World: %d' % self.i - self.publisher_.publish(msg) + # self.publisher_.publish(msg) self.get_logger().info('Publishing: "%s"' % msg.data) self.i += 1 + # def timer_callback(self): + # msg = String() + # msg.data = 'Hello World: %d' % self.i + # # self.publisher_.publish(msg) + # self.get_logger().info('Publishing: "%s"' % msg.data) + # self.i += 1 + + def main(args=None): rclpy.init(args=args) - minimal_publisher = MinimalPublisher() + lidar_localization = LidarLocalization() - rclpy.spin(minimal_publisher) + rclpy.spin(lidar_localization) # Destroy the node explicitly # (optional - otherwise it will be done automatically # when the garbage collector destroys the node object) - minimal_publisher.destroy_node() + lidar_localization.destroy_node() rclpy.shutdown() From 33038204554d0f7ba47b15f284b25e3088d201d0 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 15 Jan 2025 22:27:30 +0800 Subject: [PATCH 011/184] Modified: (BeaconProb) lidar_pose publisher --- .../lidar_member_function.py | 31 +++++++++---------- 1 file changed, 14 insertions(+), 17 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 0bbfed9..13bb95d 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -2,16 +2,14 @@ from rclpy.node import Node from std_msgs.msg import String # add to package.xml +from geometry_msgs.msg import PoseWithCovarianceStamped class LidarLocalization(Node): # inherit from Node def __init__(self): super().__init__('lidar_localization_node') # name of the node # publisher - self.publisher_ = self.create_publisher(String, 'pub_topic', 10) - # timer_period = 0.5 # seconds - # self.timer = self.create_timer(timer_period, self.timer_callback) - self.i = 0 + self.lidar_pose_pub = self.create_publisher(PoseWithCovarianceStamped, 'lidar_pose', 10) # subscriber self.subscription = self.create_subscription( String, @@ -23,19 +21,18 @@ def __init__(self): def listener_callback(self, msg): self.get_logger().info('I heard: "%s"' % msg.data) msg = String() - msg.data = 'Hello World: %d' % self.i - # self.publisher_.publish(msg) - self.get_logger().info('Publishing: "%s"' % msg.data) - self.i += 1 - - - # def timer_callback(self): - # msg = String() - # msg.data = 'Hello World: %d' % self.i - # # self.publisher_.publish(msg) - # self.get_logger().info('Publishing: "%s"' % msg.data) - # self.i += 1 - + # lidar_pose_msg + lidar_pose_msg = PoseWithCovarianceStamped() + lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() + lidar_pose_msg.header.frame_id = 'base_link' + lidar_pose_msg.pose.pose.position.x = 1.0 + lidar_pose_msg.pose.pose.position.y = 2.0 + lidar_pose_msg.pose.pose.position.z = 3.0 + lidar_pose_msg.pose.pose.orientation.x = 0.0 + lidar_pose_msg.pose.pose.orientation.y = 0.0 + lidar_pose_msg.pose.pose.orientation.z = 0.0 + lidar_pose_msg.pose.pose.orientation.w = 1.0 + self.lidar_pose_pub.publish(lidar_pose_msg) def main(args=None): rclpy.init(args=args) From d1fc03ae1f3a2d34cac4a99f189b69c237a75c12 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 15:15:37 +0800 Subject: [PATCH 012/184] Fix: (BeaconProb) build problems w/ dependencies notes: ```` --- stderr: lidar_localization_pkg /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( --- ``` --- .../global/lidar_localization_pkg/setup.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py index 5a6e9dc..986ddc4 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/setup.py +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -19,7 +19,12 @@ # Include all launch files. (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))), ], - install_requires=['setuptools'], + install_requires=[ + 'setuptools', + 'rclpy', + 'geometry_msgs', + 'obstacle_detector', + ], zip_safe=True, maintainer='jossiew621', maintainer_email='jossiew621@gapp.nthu.edu.tw', From bfe436b13b5753f372fcaaf7471d5083aaee2c5e Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 15:29:43 +0800 Subject: [PATCH 013/184] Fix: (BeaconProb) include .xml, .yml launch files notes: `(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))),` this only take the file end with .launch.py, so the file end with .launch will not be included The pattern [pxy][yma]* matches any file that has a .launch. followed by one of the characters p, x, or y and then one of the characters y, m, or a. --- .../global/lidar_localization_pkg/package.xml | 4 ++-- .../global/lidar_localization_pkg/setup.py | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/package.xml b/localization-devel-ws/global/lidar_localization_pkg/package.xml index 4ca31fb..12d85a6 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/package.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/package.xml @@ -8,13 +8,13 @@ Apache-2.0 rclpy + ros2launch - std_msgs sensor_msgs geometry_msgs nav_msgs tf2_ros - + obstacle_detector ament_copyright ament_flake8 diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py index 986ddc4..b08a96c 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/setup.py +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -1,6 +1,6 @@ import os from glob import glob -from setuptools import setup +from setuptools import setup, find_packages package_name = 'lidar_localization_pkg' @@ -8,7 +8,7 @@ name=package_name, version='0.0.0', # Packages to export - packages=[package_name], + packages=find_packages(exclude=['test']), # Files we want to install, specifically launch files data_files=[ # Install marker file in the package index @@ -17,7 +17,7 @@ # Include our package.xml file (os.path.join('share', package_name), ['package.xml']), # Include all launch files. - (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))), + (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))), ], install_requires=[ 'setuptools', From 68cba343e3002d899a9e774f31278abe2072b0b8 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 15:48:59 +0800 Subject: [PATCH 014/184] Add: (BeaconProb) Add launch for lidar w/ obstacle --- .../launch/obstacle_extractor_launch.xml | 30 +++++++++++++++++++ .../launch/view_obstacles_launch.xml | 8 +++++ 2 files changed, 38 insertions(+) create mode 100644 localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml create mode 100644 localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml new file mode 100644 index 0000000..dd7f859 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml new file mode 100644 index 0000000..357f363 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file From 8774c0d9e3520fbb9f48e4e998c019bbcfd6277b Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 16:37:12 +0800 Subject: [PATCH 015/184] Add: (BeaconProb) Obstacles subscriber --- localization-devel-ws/.gitignore | 2 + .../lidar_member_function.py | 48 +++++++++++-------- 2 files changed, 31 insertions(+), 19 deletions(-) create mode 100644 localization-devel-ws/.gitignore diff --git a/localization-devel-ws/.gitignore b/localization-devel-ws/.gitignore new file mode 100644 index 0000000..a75df45 --- /dev/null +++ b/localization-devel-ws/.gitignore @@ -0,0 +1,2 @@ +# py cache +__pycache__/ \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 13bb95d..1d49eea 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -1,8 +1,10 @@ import rclpy from rclpy.node import Node -from std_msgs.msg import String # add to package.xml from geometry_msgs.msg import PoseWithCovarianceStamped +from obstacle_detector.msg import Obstacles + +import numpy as np class LidarLocalization(Node): # inherit from Node @@ -12,27 +14,35 @@ def __init__(self): self.lidar_pose_pub = self.create_publisher(PoseWithCovarianceStamped, 'lidar_pose', 10) # subscriber self.subscription = self.create_subscription( - String, - 'chatter', - self.listener_callback, + Obstacles, + 'raw_obstacles', + self.obstacle_callback, 10) self.subscription # prevent unused variable warning - def listener_callback(self, msg): - self.get_logger().info('I heard: "%s"' % msg.data) - msg = String() - # lidar_pose_msg - lidar_pose_msg = PoseWithCovarianceStamped() - lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() - lidar_pose_msg.header.frame_id = 'base_link' - lidar_pose_msg.pose.pose.position.x = 1.0 - lidar_pose_msg.pose.pose.position.y = 2.0 - lidar_pose_msg.pose.pose.position.z = 3.0 - lidar_pose_msg.pose.pose.orientation.x = 0.0 - lidar_pose_msg.pose.pose.orientation.y = 0.0 - lidar_pose_msg.pose.pose.orientation.z = 0.0 - lidar_pose_msg.pose.pose.orientation.w = 1.0 - self.lidar_pose_pub.publish(lidar_pose_msg) + # def listener_callback(self, msg): + # self.get_logger().info('I heard: "%s"' % msg.data) + # # lidar_pose_msg + # lidar_pose_msg = PoseWithCovarianceStamped() + # lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() + # lidar_pose_msg.header.frame_id = 'base_link' + # lidar_pose_msg.pose.pose.position.x = 1.0 + # lidar_pose_msg.pose.pose.position.y = 2.0 + # lidar_pose_msg.pose.pose.position.z = 3.0 + # lidar_pose_msg.pose.pose.orientation.x = 0.0 + # lidar_pose_msg.pose.pose.orientation.y = 0.0 + # lidar_pose_msg.pose.pose.orientation.z = 0.0 + # lidar_pose_msg.pose.pose.orientation.w = 1.0 + # self.lidar_pose_pub.publish(lidar_pose_msg) + + def obstacle_callback(self, msg): + self.get_logger().info('obstacle detected') + # obstacle operation + self.obs_raw = [] + for obs in msg.circles: + self.obs_raw.append(np.array([obs.center.x, obs.center.y])) + # use log to print what it get + self.get_logger().info('obs_raw: %s' % self.obs_raw) def main(args=None): rclpy.init(args=args) From 4388a343a7f3dfbecb825b03cf5f41c2d0c6c889 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 16:51:51 +0800 Subject: [PATCH 016/184] Modified: (BeaconProb) use debug level logger notes: - to use, --ros-args --log-level debug eg. ros2 run lidar_localization_pkg lidar_localization --ros-args --log-level debug --- .../lidar_localization_pkg/lidar_member_function.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 1d49eea..ebd778a 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -20,6 +20,9 @@ def __init__(self): 10) self.subscription # prevent unused variable warning + # ros debug logger + self.get_logger().debug('Lidar Localization Node has been initialized') + # def listener_callback(self, msg): # self.get_logger().info('I heard: "%s"' % msg.data) # # lidar_pose_msg @@ -36,13 +39,13 @@ def __init__(self): # self.lidar_pose_pub.publish(lidar_pose_msg) def obstacle_callback(self, msg): - self.get_logger().info('obstacle detected') + self.get_logger().debug('obstacle detected') # obstacle operation self.obs_raw = [] for obs in msg.circles: self.obs_raw.append(np.array([obs.center.x, obs.center.y])) # use log to print what it get - self.get_logger().info('obs_raw: %s' % self.obs_raw) + self.get_logger().debug('obs_raw: %s' % self.obs_raw) def main(args=None): rclpy.init(args=args) From 515b0fd63ced7c3ace6670dc27062bad65ab4805 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 17:06:20 +0800 Subject: [PATCH 017/184] Add: quaternion and euler conversion by: miffy --- .../lidar_member_function.py | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index ebd778a..4e31b04 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -47,6 +47,40 @@ def obstacle_callback(self, msg): # use log to print what it get self.get_logger().debug('obs_raw: %s' % self.obs_raw) +def quaternion_from_euler(ai, aj, ak): + ai /= 2.0 + aj /= 2.0 + ak /= 2.0 + ci = math.cos(ai) + si = math.sin(ai) + cj = math.cos(aj) + sj = math.sin(aj) + ck = math.cos(ak) + sk = math.sin(ak) + cc = ci*ck + cs = ci*sk + sc = si*ck + ss = si*sk + q = np.empty((4, )) + q[0] = cj*sc - sj*cs + q[1] = cj*ss + sj*cc + q[2] = cj*cs - sj*sc + q[3] = cj*cc + sj*ss + return q + +def euler_from_quaternion(self, x, y, z, w): + t0 = +2.0 * (w * x + y * z) + t1 = +1.0 - 2.0 * (x * x + y * y) + roll_x = math.atan2(t0, t1) + t2 = +2.0 * (w * y - z * x) + t2 = +1.0 if t2 > +1.0 else t2 + t2 = -1.0 if t2 < -1.0 else t2 + pitch_y = math.asin(t2) + t3 = +2.0 * (w * z + x * y) + t4 = +1.0 - 2.0 * (y * y + z * z) + yaw_z = math.atan2(t3, t4) + return yaw_z # in radians + def main(args=None): rclpy.init(args=args) From f842727a2ce0145223a7f556b94263cb5138db1a Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 17:23:35 +0800 Subject: [PATCH 018/184] Add: (BeaconProb) methods from fe1993b2ab0c32db8b8104b3c207a7edc899aa88 https://github.com/jossiewang/Eurobot-2024-Localization/tree/BeaconsProbability --- .../lidar_member_function.py | 249 +++++++++++++++++- 1 file changed, 245 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 4e31b04..6daec15 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -9,10 +9,26 @@ class LidarLocalization(Node): # inherit from Node def __init__(self): - super().__init__('lidar_localization_node') # name of the node - # publisher + super().__init__('lidar_localization_node') + # Set the side (0 for blue and 1 for yellow); TODO: use param + side = 1 + if side == 0: + landmarks_map = [ + np.array([-0.094, 0.052]), + np.array([-0.094, 1.948]), + np.array([3.094, 1.0]) + ] + elif side == 1: + landmarks_map = [ + np.array([3.094, 0.052]), + np.array([3.094, 1.948]), + np.array([-0.094, 1.0]) + ] + # set debug mode + self.debug_mode = False + + # ros settings self.lidar_pose_pub = self.create_publisher(PoseWithCovarianceStamped, 'lidar_pose', 10) - # subscriber self.subscription = self.create_subscription( Obstacles, 'raw_obstacles', @@ -23,6 +39,13 @@ def __init__(self): # ros debug logger self.get_logger().debug('Lidar Localization Node has been initialized') + self.landmarks_map = landmarks_map + self.init_landmarks_map(self.landmarks_map) + self.robot_pose = [] + self.P_pred = [] + self.newPose = False + self.R = np.array([[0.05**2, 0.0], [0.0, 0.05**2]]) # R: measurement noise; TODO: tune the value + # def listener_callback(self, msg): # self.get_logger().info('I heard: "%s"' % msg.data) # # lidar_pose_msg @@ -47,6 +70,217 @@ def obstacle_callback(self, msg): # use log to print what it get self.get_logger().debug('obs_raw: %s' % self.obs_raw) + def init_landmarks_map(self, landmarks_map): + self.landmarks_map = landmarks_map + # calculate the geometry description of landmarks + self.geometry_description_map = {} + NUM_LANDMARKS = len(landmarks_map) + for i in range(NUM_LANDMARKS): + for j in range(i + 1, NUM_LANDMARKS): + if i == j: + continue + d_ij = np.linalg.norm(landmarks_map[i] - landmarks_map[j]) + self.geometry_description_map[(i, j)] = d_ij + + def clear_data(self): + self.obs_raw = [] + self.robot_pose = np.array([]) + self.P_pred = np.array([]) + self.landmarks_candidate = [] + self.landmarks_set = [] + self.newPose = False + + def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): + obs_candidates = [] + x_r, y_r, phi_r = robot_pose + x_o, y_o = landmark + r_prime = np.sqrt((x_o - x_r) ** 2 + (y_o - y_r) ** 2) + # theta_rob = np.arctan2( + temp = angle_limit_checking(np.arctan2(y_o - y_r, x_o - x_r)) # limit checking is not necessary right? + theta_prime = angle_limit_checking(temp - phi_r) + + H = np.array([ + [-(x_o - x_r) / r_prime, -(y_o - y_r) / r_prime, 0], + [(y_o - y_r) / r_prime ** 2, -(x_o - x_r) / r_prime ** 2, -1] + ]) + S = H @ P_pred @ H.T + R + S_inv = np.linalg.inv(S) + S_det = np.linalg.det(S) + normalizer = 1 / np.sqrt((2 * np.pi) ** 2 * S_det) + + likelihood_threshold = 0.1 # Define a threshold for likelihood + + for obs in obs_raw: + r_z = np.sqrt(obs[0] ** 2 + obs[1] ** 2) + theta_z = np.arctan2(obs[1], obs[0]) + y = np.array([r_z - r_prime, angle_limit_checking(theta_z - theta_prime)]) + di_square = y.T @ S_inv @ y + likelihood = normalizer * np.exp(-0.5 * di_square) + # normalize: max likelihood is for di_square = 0 + likelihood = likelihood / normalizer + if likelihood > likelihood_threshold: + obs_candidates.append({'position': obs, 'probability': likelihood}) + + return obs_candidates + + def get_landmarks_candidate(self, landmarks_map, obs_raw, robot_pose, P_pred, R): + landmarks_candidate = [] + for landmark in landmarks_map: + candidate = { + 'landmark': landmark, + 'obs_candidates': self.get_obs_candidate(robot_pose, P_pred, R, landmark, obs_raw) + } + landmarks_candidate.append(candidate) + # print landmarks_candidate for debug + if self.debug_mode: + for i, landmark in enumerate(landmarks_candidate): + print(f"Landmark {i + 1}: {landmark['landmark']}") + for j, obs_candidate in enumerate(landmark['obs_candidates']): + print(f"Obs {j + 1}: {obs_candidate['position']} with probability {obs_candidate['probability']}") + return landmarks_candidate + + def get_landmarks_set(self, landmarks_candidate): + landmarks_set = [] + # ## Permutations for two landmarks + # landmark_indices = list(range(len(landmarks_candidate))) # Generate all combinations of landmarks + # for comb in combinations(landmark_indices, 2): + # for i in range(len(landmarks_candidate[comb[0]]['obs_candidates'])): + # for j in range(len(landmarks_candidate[comb[1]]['obs_candidates'])): + # set = { + # 'beacons': { + # comb[0]: landmarks_candidate[comb[0]]['obs_candidates'][i]['position'], + # comb[1]: landmarks_candidate[comb[1]]['obs_candidates'][j]['position'] + # } + # } + # # consistency of the set + # set['consistency'] = self.get_geometry_consistency(set['beacons']) + # if set['consistency'] < 0.99: #TODO: tune the value + # self.get_logger().debug(f"Geometry consistency is less than 0.96: {set['consistency']}") + # continue + # # probability of the set + # set['probability_set'] = landmarks_candidate[comb[0]]['obs_candidates'][i]['probability'] * landmarks_candidate[comb[1]]['obs_candidates'][j]['probability'] + # landmarks_set.append(set) + ## Permutations for three landmarks + for i in range(len(landmarks_candidate[0]['obs_candidates'])): + for j in range(len(landmarks_candidate[1]['obs_candidates'])): + for k in range(len(landmarks_candidate[2]['obs_candidates'])): + set = { + 'beacons': { + 0: landmarks_candidate[0]['obs_candidates'][i]['position'], + 1: landmarks_candidate[1]['obs_candidates'][j]['position'], + 2: landmarks_candidate[2]['obs_candidates'][k]['position'] + } + } + # consistency of the set + set['consistency'] = self.get_geometry_consistency(set['beacons']) + if set['consistency'] < 0.9: + self.get_logger().debug(f"Geometry consistency is less than 0.9: {set['consistency']}") + continue + # probability of the set + set['probability_set'] = landmarks_candidate[0]['obs_candidates'][i]['probability'] * landmarks_candidate[1]['obs_candidates'][j]['probability'] * landmarks_candidate[2]['obs_candidates'][k]['probability'] + landmarks_set.append(set) + + # print landmarks_set for debug + if self.debug_mode: + for i, set in enumerate(landmarks_set): + print(f"Set {i + 1}:") + print(f"Probability: {set['probability_set']}") + print(f"Geometry Consistency: {set['consistency']}") + + return landmarks_set + + def get_lidar_pose(self, landmarks_set, landmarks_map): + if not landmarks_set: + raise ValueError("landmarks_set is empty") + # prefer the set with more beacons + landmarks_set = sorted(landmarks_set, key=lambda x: len(x['beacons']), reverse=True) + # with the most beacon possible, prefer the set with the highest probability_set; TODO: better way to sort? + max_likelihood = max(set['probability_set'] for set in landmarks_set) + max_likelihood_idx = next(i for i, set in enumerate(landmarks_set) if set['probability_set'] == max_likelihood) + + lidar_pose = np.zeros(3) + P_post = np.diag([0.05**2, 0.05**2, 0.05**2]) # what should the optimal value be? + + # If the most likely set has at least 3 beacons + if len(landmarks_set[max_likelihood_idx]['beacons']) >= 3: + beacons = [landmarks_set[max_likelihood_idx]['beacons'][i] for i in range(3)] + A = np.zeros((2, 2)) + b = np.zeros(2) + dist_beacon_robot = [np.linalg.norm(beacon) for beacon in beacons] + + A[0, 0] = 2 * (landmarks_map[0][0] - landmarks_map[2][0]) + A[0, 1] = 2 * (landmarks_map[0][1] - landmarks_map[2][1]) + A[1, 0] = 2 * (landmarks_map[1][0] - landmarks_map[2][0]) + A[1, 1] = 2 * (landmarks_map[1][1] - landmarks_map[2][1]) + + b[0] = (landmarks_map[0][0]**2 - landmarks_map[2][0]**2) + (landmarks_map[0][1]**2 - landmarks_map[2][1]**2) + (dist_beacon_robot[2]**2 - dist_beacon_robot[0]**2) + b[1] = (landmarks_map[1][0]**2 - landmarks_map[2][0]**2) + (landmarks_map[1][1]**2 - landmarks_map[2][1]**2) + (dist_beacon_robot[2]**2 - dist_beacon_robot[1]**2) + + try: + X = np.linalg.solve(A.T @ A, A.T @ b) + lidar_pose[0] = X[0] + lidar_pose[1] = X[1] + + robot_sin = 0 + robot_cos = 0 + + for i in range(3): + theta = angle_limit_checking(np.arctan2(landmarks_map[i][1] - lidar_pose[1], landmarks_map[i][0] - lidar_pose[0]) - np.arctan2(beacons[i][1], beacons[i][0])) + robot_sin += np.sin(theta) + robot_cos += np.cos(theta) + + lidar_pose[2] = angle_limit_checking(np.arctan2(robot_sin, robot_cos)) + + P_post[0, 0] /= max_likelihood + P_post[1, 1] /= max_likelihood + P_post[2, 2] /= max_likelihood + + # publish the lidar pose + lidar_pose_msg = PoseWithCovarianceStamped() + lidar_pose_msg.header.stamp = self.obs_time # compensation + lidar_pose_msg.pose.pose.position.x = lidar_pose[0] + lidar_pose_msg.pose.pose.position.y = lidar_pose[1] + lidar_pose_msg.pose.pose.position.z = 0.0 + lidar_pose_msg.pose.pose.orientation.x = 0.0 + lidar_pose_msg.pose.pose.orientation.y = 0.0 + lidar_pose_msg.pose.pose.orientation.z = np.sin(lidar_pose[2] / 2) + lidar_pose_msg.pose.pose.orientation.w = np.cos(lidar_pose[2] / 2) + lidar_pose_msg.pose.covariance = [ + P_post[0, 0], 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, P_post[1, 1], 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, P_post[2, 2], + ] + # self.get_logger().debug(f"lidar_pose: {lidar_pose}") + self.lidar_pose_pub.publish(lidar_pose_msg) + # self.get_logger().debug("Published lidar_pose message") + + except np.linalg.LinAlgError as e: + rospy.logerr("Linear algebra error: {}".format(e)) + else: + self.get_logger().debug("not enough beacons") + + return lidar_pose, P_post + + def get_geometry_consistency(self, beacons): + geometry_description = {} + consistency = 1.0 + lenB = len(beacons) + + # lenB can be 2, 3 or 4 + # use the index of the beacons to calculate the distance between them + for i in beacons: + for j in beacons: + if i == j: + continue + geometry_description[(i, j)] = np.linalg.norm(beacons[i] - beacons[j]) + # self.get_logger().debug(f"Beacon {i} to Beacon {j} distance: {geometry_description[(i, j)]}") + if (i, j) in self.geometry_description_map: + expected_distance = self.geometry_description_map[(i, j)] + consistency *= 1 - np.abs(geometry_description[(i, j)] - expected_distance) / expected_distance + # if the index is not found in map, it is probably on the lower triangle of the matrix + + return consistency + def quaternion_from_euler(ai, aj, ak): ai /= 2.0 aj /= 2.0 @@ -67,7 +301,7 @@ def quaternion_from_euler(ai, aj, ak): q[2] = cj*cs - sj*sc q[3] = cj*cc + sj*ss return q - + def euler_from_quaternion(self, x, y, z, w): t0 = +2.0 * (w * x + y * z) t1 = +1.0 - 2.0 * (x * x + y * y) @@ -81,6 +315,13 @@ def euler_from_quaternion(self, x, y, z, w): yaw_z = math.atan2(t3, t4) return yaw_z # in radians +def angle_limit_checking(theta): + while theta > np.pi: + theta -= 2 * np.pi + while theta <= -np.pi: + theta += 2 * np.pi + return theta + def main(args=None): rclpy.init(args=args) From 8c088fa9ad50c50031ae7460dd9aca93f4794695 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 20:07:37 +0800 Subject: [PATCH 019/184] Add: (BeaconProb) subsribe to pred_pose --- .../lidar_member_function.py | 47 +++++++++++++------ 1 file changed, 33 insertions(+), 14 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 6daec15..d9b3ac6 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -34,6 +34,12 @@ def __init__(self): 'raw_obstacles', self.obstacle_callback, 10) + self.subscription = self.create_subscription( + PoseWithCovarianceStamped, + 'pred_pose', + self.pred_pose_callback, + 10 + ) self.subscription # prevent unused variable warning # ros debug logger @@ -67,8 +73,20 @@ def obstacle_callback(self, msg): self.obs_raw = [] for obs in msg.circles: self.obs_raw.append(np.array([obs.center.x, obs.center.y])) - # use log to print what it get - self.get_logger().debug('obs_raw: %s' % self.obs_raw) + + def pred_pose_callback(self, msg): + # self.print_debug("Robot pose callback triggered") + self.newPose = True + orientation = euler_from_quaternion(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)[2] # raw, pitch, *yaw + # check orientation range + if orientation < 0: + orientation += 2 * np.pi + self.robot_pose = np.array([msg.pose.pose.position.x, msg.pose.pose.position.y, orientation]) + self.P_pred = np.array([ + [msg.pose.covariance[0], 0, 0], + [0, msg.pose.covariance[7], 0], + [0, 0, msg.pose.covariance[35]] + ]) def init_landmarks_map(self, landmarks_map): self.landmarks_map = landmarks_map @@ -237,7 +255,8 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): # publish the lidar pose lidar_pose_msg = PoseWithCovarianceStamped() - lidar_pose_msg.header.stamp = self.obs_time # compensation + lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() # TODO: compensation + lidar_pose_msg.header.frame_id = 'map' #TODO: param lidar_pose_msg.pose.pose.position.x = lidar_pose[0] lidar_pose_msg.pose.pose.position.y = lidar_pose[1] lidar_pose_msg.pose.pose.position.z = 0.0 @@ -255,7 +274,7 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): # self.get_logger().debug("Published lidar_pose message") except np.linalg.LinAlgError as e: - rospy.logerr("Linear algebra error: {}".format(e)) + self.get_logger().warn("Linear algebra error: {}".format(e)) else: self.get_logger().debug("not enough beacons") @@ -285,12 +304,12 @@ def quaternion_from_euler(ai, aj, ak): ai /= 2.0 aj /= 2.0 ak /= 2.0 - ci = math.cos(ai) - si = math.sin(ai) - cj = math.cos(aj) - sj = math.sin(aj) - ck = math.cos(ak) - sk = math.sin(ak) + ci = np.cos(ai) + si = np.sin(ai) + cj = np.cos(aj) + sj = np.sin(aj) + ck = np.cos(ak) + sk = np.sin(ak) cc = ci*ck cs = ci*sk sc = si*ck @@ -302,17 +321,17 @@ def quaternion_from_euler(ai, aj, ak): q[3] = cj*cc + sj*ss return q -def euler_from_quaternion(self, x, y, z, w): +def euler_from_quaternion(x, y, z, w): t0 = +2.0 * (w * x + y * z) t1 = +1.0 - 2.0 * (x * x + y * y) - roll_x = math.atan2(t0, t1) + roll_x = np.atan2(t0, t1) t2 = +2.0 * (w * y - z * x) t2 = +1.0 if t2 > +1.0 else t2 t2 = -1.0 if t2 < -1.0 else t2 - pitch_y = math.asin(t2) + pitch_y = np.asin(t2) t3 = +2.0 * (w * z + x * y) t4 = +1.0 - 2.0 * (y * y + z * z) - yaw_z = math.atan2(t3, t4) + yaw_z = np.atan2(t3, t4) return yaw_z # in radians def angle_limit_checking(theta): From 71fc01eed7cd9750859ed215e3b05c064788b1ac Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 20:11:35 +0800 Subject: [PATCH 020/184] Add: (BeaconProb) data process --- .../lidar_localization_pkg/lidar_member_function.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index d9b3ac6..976dc8d 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -73,6 +73,19 @@ def obstacle_callback(self, msg): self.obs_raw = [] for obs in msg.circles: self.obs_raw.append(np.array([obs.center.x, obs.center.y])) + self.obs_time = msg.header.stamp + # data processing + if self.newPose == False: # Check if robot_pose or P_pred is empty + self.print_debug("no new robot pose or P_pred") + return + self.landmarks_candidate = self.get_landmarks_candidate(self.landmarks_map, self.obs_raw, self.robot_pose, self.P_pred, self.R) + self.landmarks_set = self.get_landmarks_set(self.landmarks_candidate) + if len(self.landmarks_set) == 0: + self.print_debug("empty landmarks set") + return + self.lidar_pose, self.P_post = self.get_lidar_pose(self.landmarks_set, self.landmarks_map) + # clear used data + self.clear_data() def pred_pose_callback(self, msg): # self.print_debug("Robot pose callback triggered") From 2801ba5959bcb2492831e3da51503f92966a8383 Mon Sep 17 00:00:00 2001 From: mac781 Date: Thu, 16 Jan 2025 21:40:01 +0800 Subject: [PATCH 021/184] ft-rival_localization --- .../rival/imm_filter/CMakeLists.txt | 53 +++ .../rival/imm_filter/LICENSE | 202 ++++++++++ .../rival/imm_filter/include/imm_filter/EKF.h | 119 ++++++ .../rival/imm_filter/include/imm_filter/IMM.h | 68 ++++ .../include/imm_filter/ModelGenerator.h | 19 + .../include/imm_filter/imm_filter_node.h | 59 +++ .../rival/imm_filter/launch/imm_filter.xml | 14 + .../rival/imm_filter/lib/EKF.cpp | 350 ++++++++++++++++++ .../rival/imm_filter/lib/IMM.cpp | 141 +++++++ .../rival/imm_filter/lib/ModelGenerator.cpp | 52 +++ .../rival/imm_filter/package.xml | 28 ++ .../rival/imm_filter/src/imm_filter_node.cpp | 101 +++++ .../rival/rival_localization/CMakeLists.txt | 48 +++ .../rival/rival_localization/LICENSE | 202 ++++++++++ .../config/rival_localization.yaml | 36 ++ .../rival_localization/rival_localization.h | 68 ++++ .../launch/rival_localization.xml | 22 ++ .../rival/rival_localization/package.xml | 27 ++ .../src/rival_localization.cpp | 211 +++++++++++ 19 files changed, 1820 insertions(+) create mode 100644 localization-devel-ws/rival/imm_filter/CMakeLists.txt create mode 100644 localization-devel-ws/rival/imm_filter/LICENSE create mode 100644 localization-devel-ws/rival/imm_filter/include/imm_filter/EKF.h create mode 100644 localization-devel-ws/rival/imm_filter/include/imm_filter/IMM.h create mode 100644 localization-devel-ws/rival/imm_filter/include/imm_filter/ModelGenerator.h create mode 100644 localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h create mode 100644 localization-devel-ws/rival/imm_filter/launch/imm_filter.xml create mode 100644 localization-devel-ws/rival/imm_filter/lib/EKF.cpp create mode 100644 localization-devel-ws/rival/imm_filter/lib/IMM.cpp create mode 100644 localization-devel-ws/rival/imm_filter/lib/ModelGenerator.cpp create mode 100644 localization-devel-ws/rival/imm_filter/package.xml create mode 100644 localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp create mode 100644 localization-devel-ws/rival/rival_localization/CMakeLists.txt create mode 100644 localization-devel-ws/rival/rival_localization/LICENSE create mode 100644 localization-devel-ws/rival/rival_localization/config/rival_localization.yaml create mode 100644 localization-devel-ws/rival/rival_localization/include/rival_localization/rival_localization.h create mode 100644 localization-devel-ws/rival/rival_localization/launch/rival_localization.xml create mode 100644 localization-devel-ws/rival/rival_localization/package.xml create mode 100644 localization-devel-ws/rival/rival_localization/src/rival_localization.cpp diff --git a/localization-devel-ws/rival/imm_filter/CMakeLists.txt b/localization-devel-ws/rival/imm_filter/CMakeLists.txt new file mode 100644 index 0000000..a0651d8 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 3.8) +project(imm_filter) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(imm_filter_lib lib/EKF.cpp lib/IMM.cpp lib/ModelGenerator.cpp) +target_include_directories(imm_filter_lib PUBLIC include) +ament_target_dependencies(imm_filter_lib rclcpp sensor_msgs geometry_msgs nav_msgs std_msgs tf2 tf2_ros) + +add_executable(imm_filter_node src/imm_filter_node.cpp) +ament_target_dependencies(imm_filter_node rclcpp sensor_msgs geometry_msgs nav_msgs std_msgs tf2 tf2_ros) +target_link_libraries(imm_filter_node imm_filter_lib) + +install(TARGETS + imm_filter_lib + imm_filter_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + launch + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-devel-ws/rival/imm_filter/LICENSE b/localization-devel-ws/rival/imm_filter/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/localization-devel-ws/rival/imm_filter/include/imm_filter/EKF.h b/localization-devel-ws/rival/imm_filter/include/imm_filter/EKF.h new file mode 100644 index 0000000..e9b1132 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/include/imm_filter/EKF.h @@ -0,0 +1,119 @@ +#ifndef EKF_H_ +#define EKF_H_ +#include +#include +#include +#include +#include +#include +#include "rclcpp/rclcpp.hpp" + +class KFBase { + + public: + void predict(const double& stamp); + void update(const Eigen::VectorXd &z); + void updateOnce(const double& stamp, const Eigen::VectorXd* z = nullptr); + + virtual void init(const double &stamp, const Eigen::VectorXd &x) {} + + Eigen::VectorXd x() const {return this->x_;} + Eigen::MatrixXd P() const {return this->P_;} + Eigen::MatrixXd S() const {return this->S_;} + + void setStateCoveriance(const Eigen::MatrixXd& P) { + this->P_ = P; + } + + void setState(const Eigen::VectorXd& x) { + this->x_ = x; + } + + void setCurrentTimeStamp(const double& stamp) { + this->dt_ = stamp - this->current_time_stamp_; + /*std::cout <<"TimeStamp:"<< std::fixed << stamp << std::endl; + std::cout <<"dt_:"<< std::fixed << dt_ << std::endl; + std::cout <<"det(s):"<< std::fixed << this->S().determinant() << std::endl;*/ + this->current_time_stamp_ = stamp; + + if (this->dt_ < 0) + this->dt_ = 1e-4; + } + + double stamp() const {return this->current_time_stamp_;} + double likelihood() const {return this->likelihood_;} + virtual KFBase* clone() {return new KFBase(*this);} + private: + /* data */ + protected: + Eigen::MatrixXd F_; // 狀態轉移矩陣 + Eigen::MatrixXd H_; // 測量矩陣 + Eigen::MatrixXd Q_; // 系統協方差矩陣 + Eigen::MatrixXd R_; // 測量協方差矩陣 + Eigen::MatrixXd J_; // 雅可比陣 + Eigen::MatrixXd P_; // 過程協方差矩陣 + Eigen::MatrixXd S_; + Eigen::VectorXd x_; // 狀態向量 + Eigen::VectorXd z_; // 測量向量 + + std::vector angle_mask_; + double likelihood_; + double dt_; + double current_time_stamp_; + virtual void updatePrediction() {} + virtual void updateMeasurement() {} + + static double normalizeAngle(const double raw_angle) { //象限處理 + int n = 0; + double angle = 0; + n = raw_angle / (3.141592653 * 2); + angle = raw_angle - (3.141592653 * 2) * n; + + if (angle > 3.141592653) + angle = angle - (3.141592653 * 2); + + else if (angle <= -3.141592653) + angle = angle + (3.141592653 * 2); + + + return angle; + } +}; + +class CV : public KFBase { + + private: + void updatePrediction(); + void updateMeasurement(); + public: + void init(const double &stamp, const Eigen::VectorXd &x); + virtual CV* clone() {return new CV(*this);} + CV(); + ~CV(); +}; + +class CA : public KFBase { + + private: + void updatePrediction(); + void updateMeasurement(); + public: + void init(const double &stamp, const Eigen::VectorXd &x); + virtual CA* clone() {return new CA(*this);} + CA(); + ~CA(); +}; + +class CT : public KFBase { + + private: + void updatePrediction(); + void updateMeasurement(); + const double yaw_rate_; + public: + void init(const double &stamp, const Eigen::VectorXd &x); + virtual CT* clone() {return new CT(*this);} + CT(const double& yaw_rate); + ~CT(); +}; +#endif diff --git a/localization-devel-ws/rival/imm_filter/include/imm_filter/IMM.h b/localization-devel-ws/rival/imm_filter/include/imm_filter/IMM.h new file mode 100644 index 0000000..14560dd --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/include/imm_filter/IMM.h @@ -0,0 +1,68 @@ +#ifndef IMM_H_ +#define IMM_H_ +#include +#include +#include +#include +#include +#include +#include "imm_filter/EKF.h" +#include "rclcpp/rclcpp.hpp" + +class IMM { + + public: + Eigen::VectorXd x_; + + void addModel(const std::shared_ptr& model); + + void init( + const Eigen::MatrixXd& transfer_prob, + const Eigen::VectorXd& model_prob, + const Eigen::VectorXd& x, + const double& dt); + + void stateInteraction(); + void updateState(const double& stamp, const Eigen::VectorXd* z = nullptr); + void updateModelProb(); + void estimateFusion(); + void updateOnce(const double& stamp, const Eigen::VectorXd* z = nullptr); + + Eigen::VectorXd x() const {return x_;} + + IMM(const IMM& imm) { + + transfer_prob_ = imm.transfer_prob_; + P_ = imm.P_; + X_ = imm.X_; + c_ = imm.c_; + model_prob_ = imm.model_prob_; + x_ = imm.x_; + model_num_ = imm.model_num_; + state_num_ = imm.state_num_; + + for (size_t i = 0; i < imm.models_.size(); i++) { + + std::shared_ptr m = std::shared_ptr(imm.models_[i]->clone()); + this->models_.push_back(m); + } + } + double stamp() const {return current_time_stamp_;} + IMM* clone() {return new IMM(*this);} + + IMM(); + ~IMM(); + + private: + std::vector> models_; + Eigen::MatrixXd transfer_prob_; + Eigen::MatrixXd P_; + Eigen::MatrixXd X_; + Eigen::VectorXd c_; + Eigen::VectorXd model_prob_; + + size_t model_num_; + size_t state_num_; + double current_time_stamp_; +}; +#endif \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/include/imm_filter/ModelGenerator.h b/localization-devel-ws/rival/imm_filter/include/imm_filter/ModelGenerator.h new file mode 100644 index 0000000..69eca72 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/include/imm_filter/ModelGenerator.h @@ -0,0 +1,19 @@ +#ifndef MODEL_GENERATOR_H_ +#define MODEL_GENERATOR_H_ +#include "imm_filter/IMM.h" +#include "imm_filter/EKF.h" + +class ModelGenerator{ + + private: + /* data */ + public: + ModelGenerator(); + ~ModelGenerator(); + + void generateIMMModel(const double &stamp, const Eigen::VectorXd &x, IMM &imm); + static std::shared_ptr generateCVModel(const double &stamp, const Eigen::VectorXd &x); + static std::shared_ptr generateCAModel(const double &stamp, const Eigen::VectorXd &x); + static std::shared_ptr generateCTModel(const double &stamp, const Eigen::VectorXd &x, const double& yaw_rate); +}; +#endif \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h b/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h new file mode 100644 index 0000000..3189fe9 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h @@ -0,0 +1,59 @@ +#ifndef RIVAL_LOCALIZATION_H_ +#define RIVAL_LOCALIZATION_H_ +#include "imm_filter/IMM.h" +#include "imm_filter/EKF.h" +#include "imm_filter/ModelGenerator.h" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/clock.hpp" +#include "geometry_msgs/msg/point.hpp" +#include "geometry_msgs/msg/vector3.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "tf2/LinearMath/Quaternion.h" +#include "tf2_ros/static_transform_broadcaster.h" +#include "tf2/LinearMath/Quaternion.h" + +using namespace std::placeholders; + +class filter : public rclcpp::Node{ + + public: + filter() : Node("imm_filter_node"){ + + IMM imm; + + model_ = imm; + first_ = true; + + robot_name = "robot"; + rival_name = "rival_final"; + + imm_sub = this->create_subscription("raw_pose", 10, std::bind(&filter::obstacles_callback, this, _1)); + imm_pub = this->create_publisher("final_pose", 10); + imm_br = std::make_shared(this); + } + + void obstacles_callback(const nav_msgs::msg::Odometry::ConstPtr& msg); + void IMM_publisher(double point_x, double point_y, double velocity_x, double velocity_y, rclcpp::Time time); + void broadcast_rival_tf(); + + bool first_; + + double sub_px_; + double sub_py_; + double sub_vx_; + double sub_vy_; + + private: + rclcpp::Subscription::SharedPtr imm_sub; + rclcpp::Publisher::SharedPtr imm_pub; + rclcpp::Time rival_stamp; + + std::string robot_name; + std::string rival_name; + + geometry_msgs::msg::TransformStamped rival_tf; + std::shared_ptr imm_br; + + IMM model_; +}; +#endif \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/launch/imm_filter.xml b/localization-devel-ws/rival/imm_filter/launch/imm_filter.xml new file mode 100644 index 0000000..4a53034 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/launch/imm_filter.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/lib/EKF.cpp b/localization-devel-ws/rival/imm_filter/lib/EKF.cpp new file mode 100644 index 0000000..52af910 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/lib/EKF.cpp @@ -0,0 +1,350 @@ +#include +#include +#include +#include +#include +#include "imm_filter/EKF.h" + +void KFBase::predict(const double& stamp) { + setCurrentTimeStamp(stamp); + updatePrediction(); + this->P_ = this->F_ * this->P_ * this->F_.transpose() + this->Q_; +} + +void KFBase::update(const Eigen::VectorXd &z) { + updateMeasurement(); + Eigen::MatrixXd S = this->H_ * this->P_ * this->H_.transpose() + this->R_; + Eigen::VectorXd v = z - this->z_; + + for (size_t i = 0; i < angle_mask_.size(); i++) { + if (angle_mask_[i] == true) + v(i) = normalizeAngle(v(i)); // 使角度在-pi~+pi之間 + } + double det = S.determinant(); + this->S_ = S; + S = S.inverse(); + this->likelihood_ = 1.0 / sqrt(2 * M_PI * fabs(det)) * exp(-0.5 * v.transpose() * S * v); // 假設模型殘差適用高斯分布,計算似然值 + + S = 0.5 * (S + S.transpose()); + Eigen::MatrixXd K = this->P_ * (this->H_.transpose() * S); + + + this->x_ = this->x_ + K * v; + Eigen::MatrixXd I; + I.setIdentity(6, 6); + Eigen::MatrixXd C = (I - K * this->H_); + this->P_ = C * this->P_ * C.transpose() + K * R_ * K.transpose(); + this->P_ = this->P_ + 0.0001 * I; +} + +void KFBase::updateOnce(const double& stamp, const Eigen::VectorXd* z) { + + if (z == nullptr) { + predict(stamp); + } + else { + predict(stamp); + update(*z); + } +} + +CV::CV() {} + +CV::~CV() {} + +void CV::init(const double &stamp, const Eigen::VectorXd &x) { + if (x.size() != 6) { + RCLCPP_WARN(rclcpp::get_logger("EKF"),"Dismatch between State and CV model."); + exit(1); + } + else + RCLCPP_INFO(rclcpp::get_logger("EKF"),"CV modle built"); + + this->current_time_stamp_ = stamp; + this->P_.setIdentity(6, 6); + this->R_.resize(4, 4); + this->R_ << 0.25, 0, 0, 0, + 0, 0.25, 0, 0, + 0, 0, 5, 0, + 0, 0, 0, 5; + this->x_ = x; // x, y, theta, v + this->F_.resize(6, 6); + this->H_.resize(4, 6); + this->H_ << 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0, 0; + this->angle_mask_ = {false, false, false, false}; + this->z_.resize(4); +} + +void CV::updatePrediction() { + Eigen::VectorXd xt; + xt.resize(6); + double vx = x_(2); + double vy = x_(3); + this->F_ << 1, 0, dt_, 0, 0, 0, + 0, 1, 0, dt_, 0, 0, + 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 1; + this->x_ = this->F_ * this->x_; + /*--------------------------------------------------------------------*\ + ** CALC Process Noice Q Matrix + \*--------------------------------------------------------------------*/ + { + double delta_1 = dt_; + double delta_2 = dt_ * dt_; + double delta_3 = dt_ * dt_ * dt_; + Eigen::Matrix G; + G << + 1 / 2.0 * delta_2, 0, + 0, 1 / 2.0 * delta_2, + dt_, 0, + 0, dt_, + 0, 0, + 0, 0; + Eigen::Matrix2d E; + E << 400, 0, 0, 400; + this->Q_ = G * E * G.transpose(); + } +} + +void CV::updateMeasurement() { +/* 觀測量為 x, y, theta, v + double vx = x_(2); + double vy = x_(3); + + + this->z_(0) = x_(0); + this->z_(1) = x_(1); + this->z_(2) = atan2(x_(3), x_(2)); + this->z_(3) = sqrt(x_(2) * x_(2) + x_(3) * x_(3)); + + this->H_ << 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, -vy/(vx*vx + vy*vy), vx/(vx*vx + vy*vy), 0, 0, + 0, 0, vx/sqrt(vx*vx + vy*vy), vy/sqrt(vx*vx + vy*vy), 0, 0; */ + + this->z_(0) = x_(0); + this->z_(1) = x_(1); + this->z_(2) = x_(2); + this->z_(3) = x_(3); +} + +CA::CA() {} + +CA::~CA() {} + +void CA::init(const double &stamp, const Eigen::VectorXd &x) { + if (x.size() != 6) { + RCLCPP_WARN(rclcpp::get_logger("EKF"),"Dismatch between State and CA model."); + exit(1); + } + else + RCLCPP_INFO(rclcpp::get_logger("EKF"),"CA modle built"); + + this->current_time_stamp_ = stamp; + this->P_.setIdentity(6, 6); + this->R_.resize(4, 4); + this->R_ << 0.25, 0, 0, 0, + 0, 0.25, 0, 0, + 0, 0, 5, 0, + 0, 0, 0, 5; + this->x_ = x; // x, y, theta, v + this->F_.resize(6, 6); + this->H_.resize(4, 6); + this->H_ << 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0, 0; + this->angle_mask_ = {false, false, false, false}; + this->z_.resize(4); +} + +void CA::updatePrediction() { + Eigen::VectorXd xt; + xt.resize(6); + double vx = x_(2); + double vy = x_(3); + double ax = x_(4); + double ay = x_(5); + this->F_ << 1, 0, dt_, 0, 1 / 2.0 * dt_ * dt_, 0, + 0, 1, 0, dt_, 0, 1 / 2.0 * dt_ * dt_, + 0, 0, 1, 0, dt_, 0, + 0, 0, 0, 1, 0, dt_, + 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 1; + this->x_ = this->F_ * this->x_; + /*--------------------------------------------------------------------*\ + ** CALC Process Noice Q Matrix + \*--------------------------------------------------------------------*/ + { + double delta_1 = dt_; + double delta_2 = dt_ * dt_; + double delta_3 = dt_ * dt_ * dt_; + Eigen::Matrix G; + G << + 1 / 6.0 * delta_3, 0, + 0, 1 / 6.0 * delta_3, + 1 / 2.0 * delta_2, 0, + 0, 1 / 2.0 * delta_2, + dt_, 0, + 0, dt_; + Eigen::Matrix2d E; + E << 400, 0, 0, 400; + this->Q_ = G * E * G.transpose(); + } + +} + +void CA::updateMeasurement() { +/* 觀測量為 x, y, theta, v + double vx = x_(2); + double vy = x_(3); + + + this->z_(0) = x_(0); + this->z_(1) = x_(1); + this->z_(2) = atan2(x_(3), x_(2)); + this->z_(3) = sqrt(x_(2) * x_(2) + x_(3) * x_(3)); + + this->H_ << 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, -vy/(vx*vx + vy*vy), vx/(vx*vx + vy*vy), 0, 0, + 0, 0, vx/sqrt(vx*vx + vy*vy), vy/sqrt(vx*vx + vy*vy), 0, 0; */ + // 觀測量為 x, y, vx, vy + this->z_(0) = x_(0); + this->z_(1) = x_(1); + this->z_(2) = x_(2); + this->z_(3) = x_(3); +} + + +CT::CT(const double& yaw_rate):yaw_rate_(yaw_rate) { + if (fabs(yaw_rate_) < 1e-3) + RCLCPP_WARN(rclcpp::get_logger("EKF"),"Yaw rate can't be zero in Const Turn rate model."); +} + +CT::~CT() {} + +void CT::init(const double &stamp, const Eigen::VectorXd &x) { + + if (x.size() != 6) { + RCLCPP_WARN(rclcpp::get_logger("EKF"),"Dismatch between State and CT model."); + exit(1); + } + else + RCLCPP_INFO(rclcpp::get_logger("EKF"),"CT modle built"); + + this->current_time_stamp_ = stamp; + this->P_.setIdentity(6, 6); + this->R_.resize(4, 4); + this->R_ << 0.25, 0, 0, 0, + 0, 0.25, 0, 0, + 0, 0, 5, 0, + 0, 0, 0, 5; + this->x_ = x; // x, y, theta, v + this->F_.resize(6, 6); + this->H_.resize(4, 6); + this->H_ << 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0, 0; + this->angle_mask_ = {false, false, false, false}; + this->z_.resize(4); +} + + +void CT::updatePrediction() { + Eigen::VectorXd xt; + xt.resize(6); + + double x = x_(0); + double y = x_(1); + double vx = x_(2); + double vy = x_(3); + double ax = x_(4); + double ay = x_(5); + double dA = yaw_rate_ * dt_; + double sdA = sin(dA); + double cdA = cos(dA); + double sdA_w = sdA / yaw_rate_; + double cdA_w = cdA / yaw_rate_; + + + this->F_ << 1, 0, sdA_w, (cdA - 1) / yaw_rate_, 0, 0, + 0, 1, (1 - cdA) / yaw_rate_, sdA_w, 0, 0, + 0, 0, cdA, -sdA, 0, 0, + 0, 0, sdA, cdA, 0, 0, + 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0; + this->x_ = this->F_ * this->x_; + /*--------------------------------------------------------------------*\ + ** CALC Process Noice Q Matrix + \*--------------------------------------------------------------------*/ + { + double delta_1 = dt_; + double delta_2 = dt_ * dt_; + double delta_3 = dt_ * dt_ * dt_; + double omega_1 = pow(yaw_rate_,-1); + double omega_2 = pow(yaw_rate_,-2); + double omega_3 = pow(yaw_rate_,-3); + + // TODO 增加角速度噪音項 + // double dx_dw = 2*vx*cdA*omega_3 + dt_*vy*omega_2 + dt_*vy*cdA*omega_2 - 2*vy*omega_3*sdA + dt_*vx*omega_2*sdA; + // double dy_dw = 2*vy*cdA*omega_3 - dt_*vx*omega_2 - dt_*vx*cdA*omega_2 + 2*vx*omega_3*sdA + dt_*vy*omega_2*sdA; + // double dvx_dw = -(vy*cdA*omega_2) + dt_*vx*cdA*omega_1 - vx*omega_2*sdA - dt_*vy*omega_1*sdA; + // double dvy_dw = vx*cdA*omega_2 + dt_*vy*cdA*omega_1 - vy*omega_2*sdA + dt_*vx*omega_1*sdA; + // Eigen::Matrix G; + // G << + // 1 / 2.0 * delta_2, 0, dx_dw, + // 0, 1 / 2.0 * delta_2, dy_dw, + // dt_, 0, dvx_dw, + // 0, dt_, dvy_dw, + // 0, 0, 0, + // 0, 0, 0; + + // Eigen::Matrix3d E; + // E << 40, 0, 0, + // 0, 40, 0, + // 0, 0, 1; + + Eigen::Matrix G; + G << + 1 / 2.0 * delta_2, 0, + 0, 1 / 2.0 * delta_2, + dt_, 0, + 0, dt_, + 0, 0, + 0, 0; + Eigen::Matrix2d E; + E << 400, 0, + 0, 400; + this->Q_ = G * E * G.transpose(); + } +} + +void CT::updateMeasurement() { +/* 觀測量為 x, y, theta, v + double vx = x_(2); + double vy = x_(3); + + + this->z_(0) = x_(0); + this->z_(1) = x_(1); + this->z_(2) = atan2(x_(3), x_(2)); + this->z_(3) = sqrt(x_(2) * x_(2) + x_(3) * x_(3)); + + this->H_ << 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, -vy/(vx*vx + vy*vy), vx/(vx*vx + vy*vy), 0, 0, + 0, 0, vx/sqrt(vx*vx + vy*vy), vy/sqrt(vx*vx + vy*vy), 0, 0; */ + + // 觀測量為 x, y, vx, vy + this->z_(0) = x_(0); + this->z_(1) = x_(1); + this->z_(2) = x_(2); + this->z_(3) = x_(3); +} \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/lib/IMM.cpp b/localization-devel-ws/rival/imm_filter/lib/IMM.cpp new file mode 100644 index 0000000..f58e3f3 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/lib/IMM.cpp @@ -0,0 +1,141 @@ +#include "imm_filter/IMM.h" + +IMM::IMM():model_num_(0),current_time_stamp_(-1){} + +IMM::~IMM(){} + +void IMM::addModel(const std::shared_ptr& model) { + + this->models_.push_back(model); + this->model_num_++; +} + +void IMM::init (const Eigen::MatrixXd& transfer_prob, + const Eigen::VectorXd& model_prob, + const Eigen::VectorXd& x, + const double& dt) { + + RCLCPP_INFO(rclcpp::get_logger("IMM"),"imm filter initializing..."); + + if (this->model_num_ == 0) { + RCLCPP_WARN(rclcpp::get_logger("IMM"),"No valid model."); + exit(1); + } + + if (transfer_prob.cols() != this->model_num_ || transfer_prob.rows() != this->model_num_){ + + RCLCPP_WARN(rclcpp::get_logger("IMM"),"Dimension of transfer probability matrix is not equal to number of models."); + exit(1); + } + if (model_prob.size() != this->model_num_){ + + RCLCPP_WARN(rclcpp::get_logger("IMM"),"Dimension of model probability vector is not equal to number of models."); + exit(1); + } + + this->state_num_ = x.size(); + this->X_.resize(this->state_num_, this->model_num_); + + Eigen::VectorXd ZERO = Eigen::VectorXd::Zero(6); + + for (size_t i = 0; i < model_num_; i++) + this->X_.col(i) = this->models_[i]->x(); + + this->transfer_prob_ = transfer_prob; + this->model_prob_ = model_prob; + this->x_ = x; + this->c_.resize(this->model_num_); + + RCLCPP_INFO(rclcpp::get_logger("IMM"),"imm filter initialized"); +} + +void IMM::stateInteraction() { + + this->c_ = Eigen::VectorXd::Zero(this->model_num_); + + for (size_t j = 0; j < this->model_num_; j++) { + + for (size_t i = 0; i < this->model_num_; i++) + this->c_(j) += this->transfer_prob_(i, j) * this->model_prob_(i); + } + + Eigen::MatrixXd U = Eigen::MatrixXd::Zero(this->model_num_, this->model_num_); + + for (size_t i = 0; i < model_num_; i++) + this->X_.col(i) = this->models_[i]->x(); + + Eigen::MatrixXd X = this->X_; + this->X_.fill(0); + + for (size_t j = 0; j < this->model_num_; j++) { + + for (size_t i = 0; i < this->model_num_; i++) { + + U(i, j) = 1.0 / this->c_(j) * this->transfer_prob_(i, j) * this->model_prob_(i); + this->X_.col(j) += X.col(i) * U(i, j); + } + } + + for (size_t i = 0; i < this->model_num_; i++) { + + Eigen::MatrixXd P = Eigen::MatrixXd::Zero(this->state_num_, this->state_num_); + + for (size_t j = 0; j < this->model_num_; j++) { + + Eigen::VectorXd s = X.col(i) - this->X_.col(j); + P += U(i,j) * (this->models_[i]->P() + s * s.transpose()); + } + + this->models_[i]->setStateCoveriance(P); + this->models_[i]->setState(this->X_.col(i)); + } +} + +void IMM::updateState(const double& stamp, const Eigen::VectorXd* z) { + + current_time_stamp_ = stamp; + + for (size_t i = 0; i < this->model_num_; i++) { + + this->models_[i]->predict(stamp); + + if (nullptr != z) + this->models_[i]->update(*z); + } +} + +void IMM::updateModelProb() { + + double c_sum = 0; + + for (size_t i = 0; i < this->model_num_; i++) + c_sum += this->models_[i]->likelihood() * this->c_(i); + + for (size_t i = 0; i < this->model_num_; i++) + this->model_prob_(i) = 1 / c_sum * this->models_[i]->likelihood() * this->c_(i); +} + +void IMM::estimateFusion() { + + this->x_ = this->X_ * this->model_prob_; + + for (size_t i = 0; i < this->model_num_; i++) { + Eigen::MatrixXd v = this->X_.col(i) - this->x_; + this->P_ = this->models_[i]->P() + v * v.transpose() * this->model_prob_[i]; + } +} + +void IMM::updateOnce(const double& stamp, const Eigen::VectorXd* z) { + + if (z == nullptr) { + stateInteraction(); + updateState(stamp); + estimateFusion(); + } + else { + stateInteraction(); + updateState(stamp, z); + updateModelProb(); + estimateFusion(); + } +} \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/lib/ModelGenerator.cpp b/localization-devel-ws/rival/imm_filter/lib/ModelGenerator.cpp new file mode 100644 index 0000000..8dd3874 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/lib/ModelGenerator.cpp @@ -0,0 +1,52 @@ +#include "imm_filter/ModelGenerator.h" + +ModelGenerator::ModelGenerator(){} + +ModelGenerator::~ModelGenerator(){} + +void ModelGenerator::generateIMMModel(const double &stamp, const Eigen::VectorXd &x, IMM &imm) { + + auto cv = generateCVModel(stamp, x); + auto ca = generateCAModel(stamp, x); + auto ct0 = generateCTModel(stamp, x, 0.1); + auto ct1 = generateCTModel(stamp, x, -0.1); + + imm.addModel(ca); + imm.addModel(cv); + imm.addModel(ct0); + imm.addModel(ct1); + + Eigen::MatrixXd transfer_prob = Eigen::MatrixXd::Zero(4,4); + + transfer_prob << 0.8, 0.1, 0.05, 0.05, + 0.2, 0.7, 0.05, 0.05, + 0.1, 0.1, 0.75, 0.05, + 0.1, 0.1, 0.05, 0.75; + + Eigen::VectorXd model_prob = Eigen::VectorXd::Zero(4); + + model_prob << 0.3, 0.2, 0.25, 0.25; + + imm.init(transfer_prob, model_prob, x, stamp); +} + +std::shared_ptr ModelGenerator::generateCVModel(const double &stamp, const Eigen::VectorXd &x) { + + std::shared_ptr cv_ptr = std::shared_ptr(new CV()); + cv_ptr->init(stamp, x); + return cv_ptr; +} + +std::shared_ptr ModelGenerator::generateCAModel(const double &stamp, const Eigen::VectorXd &x) { + + std::shared_ptr ca_ptr = std::shared_ptr(new CA()); + ca_ptr->init(stamp, x); + return ca_ptr; +} + +std::shared_ptr ModelGenerator::generateCTModel(const double &stamp, const Eigen::VectorXd &x, const double& yaw_rate) { + + std::shared_ptr ct_ptr = std::shared_ptr(new CT(yaw_rate)); + ct_ptr->init(stamp, x); + return ct_ptr; +} \ No newline at end of file diff --git a/localization-devel-ws/rival/imm_filter/package.xml b/localization-devel-ws/rival/imm_filter/package.xml new file mode 100644 index 0000000..bf3f647 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/package.xml @@ -0,0 +1,28 @@ + + + + imm_filter + 0.0.0 + IMM filter node + user + Apache-2.0 + + ament_cmake + + rclcpp + geometry_msgs + nav_msgs + sensor_msgs + std_msgs + tf2 + tf2_ros + + ros2launch + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp b/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp new file mode 100644 index 0000000..d27fce1 --- /dev/null +++ b/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp @@ -0,0 +1,101 @@ +#include "imm_filter/imm_filter_node.h" + +void filter::obstacles_callback(const nav_msgs::msg::Odometry::ConstPtr& msg){ + + rclcpp::Clock clock; + rclcpp::Time stamp = clock.now(); + rival_stamp = stamp; + + Eigen::VectorXd x; + Eigen::VectorXd z; + + sub_px_ = msg->pose.pose.position.x; + sub_py_ = msg->pose.pose.position.y; + sub_vx_ = msg->twist.twist.linear.x; + sub_vy_ = msg->twist.twist.linear.y; + + RCLCPP_INFO(this->get_logger(),"Subscribe:"); + RCLCPP_INFO(this->get_logger(),"center:( %f , %f )", sub_px_, sub_py_); + RCLCPP_INFO(this->get_logger(),"velocity:( %f , %f )", sub_vx_, sub_vy_); + RCLCPP_INFO(this->get_logger(),"-------------"); + + if (!first_) { + + z.resize(4); + + z << sub_px_, sub_py_, sub_vx_, sub_vy_; + + model_.updateOnce(stamp.seconds(), &z); + + IMM_publisher(model_.x_[0], model_.x_[1], model_.x_[2], model_.x_[3], stamp); + } + else { + ModelGenerator gen; + + x.resize(6); + + //initial state + x << sub_px_, sub_py_, sub_vx_, sub_vy_, 0, 0; + + gen.generateIMMModel(stamp.seconds(), x, model_); + + first_ = false; + } +} + +void filter::broadcast_rival_tf() { + + static rclcpp::Time stamp_prev; + + if (stamp_prev.nanoseconds() != rival_stamp.nanoseconds()) { + + geometry_msgs::msg::TransformStamped transformStamped; + + transformStamped.header.stamp = rival_stamp; + transformStamped.header.frame_id = robot_name + "/map"; + transformStamped.child_frame_id = rival_name + "/base_footprint"; + + transformStamped.transform.translation.x = sub_px_; + transformStamped.transform.translation.y = sub_py_; + transformStamped.transform.translation.z = 0; + + tf2::Quaternion q; + q.setRPY(0, 0, 0); // Roll, Pitch, Yaw + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + imm_br->sendTransform(transformStamped); + } + stamp_prev = rival_stamp; +} + +void filter::IMM_publisher(double point_x, double point_y, double velocity_x, double velocity_y, rclcpp::Time time){ + + nav_msgs::msg::Odometry odom; + + odom.pose.pose.position.x = point_x; + odom.pose.pose.position.y = point_y; + odom.twist.twist.linear.x = velocity_x; + odom.twist.twist.linear.y = velocity_y; + odom.header.stamp = time; + + broadcast_rival_tf(); + imm_pub->publish(odom); + + RCLCPP_INFO(this->get_logger(),"Publish:"); + RCLCPP_INFO(this->get_logger(),"center:( %f , %f )", point_x, point_y); + RCLCPP_INFO(this->get_logger(),"velocity:( %f , %f )", velocity_x, velocity_y); + RCLCPP_INFO(this->get_logger(),"time stamp: %f", time.seconds()); + RCLCPP_INFO(this->get_logger(),"-------------"); +} + +int main(int argc, char * argv[]) { + + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/CMakeLists.txt b/localization-devel-ws/rival/rival_localization/CMakeLists.txt new file mode 100644 index 0000000..b14f787 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 3.8) +project(rival_localization) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(obstacle_detector REQUIRED) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_executable(rival_localization src/rival_localization.cpp) +ament_target_dependencies(rival_localization rclcpp tf2 tf2_ros geometry_msgs nav_msgs obstacle_detector) + +install(TARGETS + rival_localization + + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-devel-ws/rival/rival_localization/LICENSE b/localization-devel-ws/rival/rival_localization/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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--- /dev/null +++ b/localization-devel-ws/rival/rival_localization/config/rival_localization.yaml @@ -0,0 +1,36 @@ +# Obstacle Extractor +# To -> map +obstacle_detector_to_map: + ros__parameters: + active: true + use_scan: true + use_pcl: false + + use_split_and_merge: true + circles_from_visibles: true + discard_converted_segments: false + transform_coordinates: true + + min_group_points: 20 + + max_group_distance: 0.04 + distance_proportion: 0.00628 + max_split_distance: 0.02 + max_merge_separation: 0.25 + max_merge_spread: 0.02 + max_circle_radius: 0.2 + radius_enlargement: 0.05 + +rival_localization: + ros__parameters: + robot_name: robot + rival_name: rival + frequency: 100.0 + x_max: 2.9 + x_min: 0.1 + y_max: 1.9 + y_min: 0.1 + vel_lpf_gain: 0.9 + locking_rad: 0.5 + lockrad_growing_rate: 0.5 # m/s + \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/include/rival_localization/rival_localization.h b/localization-devel-ws/rival/rival_localization/include/rival_localization/rival_localization.h new file mode 100644 index 0000000..b0f0d80 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/include/rival_localization/rival_localization.h @@ -0,0 +1,68 @@ +#pragma once + +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/clock.hpp" +#include "rclcpp/duration.hpp" +#include "tf2/LinearMath/Quaternion.h" +#include "tf2_ros/static_transform_broadcaster.h" +#include "tf2/LinearMath/Quaternion.h" +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "obstacle_detector/msg/obstacles.hpp" + +using std::placeholders::_1; + +typedef struct rivalState { + double x; + double y; +}RivalState; + +class Rival : public rclcpp::Node { + +public: + + Rival() : Node("rival_localization"){ + + initialize(); + } + +private: + void initialize(); + void obstacles_callback(const obstacle_detector::msg::Obstacles::ConstPtr& msg); + void publish_rival(); + void fusion(); + void broadcast_rival_tf(); + bool in_playArea_obs(geometry_msgs::msg::Point center); + bool within_lock(geometry_msgs::msg::Point pre, geometry_msgs::msg::Point cur, double dt); + geometry_msgs::msg::Vector3 lpf(double gain, geometry_msgs::msg::Vector3 pre, geometry_msgs::msg::Vector3 cur); + void timerCallback(); + + rclcpp::Subscription::SharedPtr obstacles_sub; + rclcpp::Publisher::SharedPtr rival_pub; + rclcpp::TimerBase::SharedPtr timer_; + + obstacle_detector::msg::Obstacles obstacle; + nav_msgs::msg::Odometry rival_output; + geometry_msgs::msg::Point obstacle_pose; + geometry_msgs::msg::Point rival_pose; + geometry_msgs::msg::Vector3 obstacle_vel; + geometry_msgs::msg::Vector3 rival_vel; + rclcpp::Time obstacle_stamp; + rclcpp::Time rival_stamp; + + geometry_msgs::msg::TransformStamped rival_tf; + std::shared_ptr br; + + std::string robot_name; + std::string rival_name; + + double x_max, x_min, y_max, y_min; + double vel_lpf_gain; + double locking_rad, p_locking_rad, freq; + double lockrad_growing_rate; + + bool obstacle_ok, rival_ok; +}; \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml b/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml new file mode 100644 index 0000000..1134678 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/package.xml b/localization-devel-ws/rival/rival_localization/package.xml new file mode 100644 index 0000000..a3e229c --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/package.xml @@ -0,0 +1,27 @@ + + + + rival_localization + 0.0.0 + rival_localization + user + Apache-2.0 + + ament_cmake + + rclcpp + tf2 + tf2_ros + nav_msgs + geometry_msgs + obstacle_detector + + ros2launch + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp b/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp new file mode 100644 index 0000000..921d6cd --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp @@ -0,0 +1,211 @@ +#include "rival_localization/rival_localization.h" + +void Rival::initialize() { + + this->declare_parameter("robot_name", "default"); + this->declare_parameter("rival_name", "default"); + this->declare_parameter("frequency", 0.); + this->declare_parameter("x_max", 0.); + this->declare_parameter("x_min", 0.); + this->declare_parameter("y_max", 0.); + this->declare_parameter("y_min", 0.); + this->declare_parameter("vel_lpf_gain", 0.); + this->declare_parameter("locking_rad", 0.); + this->declare_parameter("lockrad_growing_rate", 0.); + + robot_name = this->get_parameter("robot_name").get_value(); + rival_name = this->get_parameter("rival_name").as_string(); + freq = this->get_parameter("frequency").as_double(); + x_max = this->get_parameter("x_max").as_double(); + x_min = this->get_parameter("x_min").as_double(); + y_max = this->get_parameter("y_max").as_double(); + y_min = this->get_parameter("y_min").as_double(); + vel_lpf_gain = this->get_parameter("vel_lpf_gain").as_double(); + p_locking_rad = this->get_parameter("locking_rad").as_double(); // but what if rival is moving?? should increase if rival's moving! + lockrad_growing_rate = this->get_parameter("lockrad_growing_rate").as_double(); // 5e-2 meter per second + + RCLCPP_INFO(this->get_logger(),"robot_name: %s, rival_name: %s", robot_name.c_str(), rival_name.c_str()); + + obstacles_sub = this->create_subscription("obstacles_to_map", 10, std::bind(&Rival::obstacles_callback, this, _1)); + rival_pub = this->create_publisher("raw_pose", 10); + br = std::make_shared(this); + timer_ = this->create_wall_timer(std::chrono::duration(1.0 / freq), std::bind(&Rival::timerCallback, this)); + + obstacle_ok = false; + locking_rad = p_locking_rad; +} + +bool Rival::in_playArea_obs(geometry_msgs::msg::Point center) { + + bool ok = true; + + if (center.x > x_max || center.x < x_min) ok = false; + if (center.y > y_max || center.y < y_min) ok = false; + + return ok; +} + +bool Rival::within_lock(geometry_msgs::msg::Point pre, geometry_msgs::msg::Point cur, double dt) { + + bool ok = true; + locking_rad = locking_rad + sqrt(pow(rival_vel.x, 2) + pow(rival_vel.y, 2)) * dt; + double distance = sqrt(pow((pre.x - cur.x), 2) + pow((pre.y - cur.y), 2)); + + if (distance > locking_rad) ok = false; + + return ok; +} + +geometry_msgs::msg::Vector3 Rival::lpf(double gain, geometry_msgs::msg::Vector3 pre, geometry_msgs::msg::Vector3 cur) { + + geometry_msgs::msg::Vector3 out; + out.x = gain * cur.x + (1.0 - gain) * pre.x; + out.y = gain * cur.y + (1.0 - gain) * pre.y; + + return out; +} + +void Rival::obstacles_callback(const obstacle_detector::msg::Obstacles::ConstPtr& msg) { + + static bool first = false; + static geometry_msgs::msg::Point obstacle_pose_pre; + static geometry_msgs::msg::Vector3 obstacle_vel_pre; + static rclcpp::Time obstacle_stamp_pre; + double dt = msg->header.stamp.sec - obstacle_stamp_pre.seconds(); + double min_distance = 400; + + for (const obstacle_detector::msg::CircleObstacle& circle : msg->circles) { + + if (!in_playArea_obs(circle.center)) continue; + + // if (!within_lock(obstacle_pose_pre, circle.center, dt)) continue; + + if (!first){ + + obstacle_stamp = msg->header.stamp; + obstacle_pose = circle.center; + // obstacle_vel.x = (obstacle_pose.x - obstacle_pose_pre.x) / (obstacle_stamp.toSec() - obstacle_stamp_pre.toSec()); + // obstacle_vel.y = (obstacle_pose.y - obstacle_pose_pre.y) / (obstacle_stamp.toSec() - obstacle_stamp_pre.toSec()); + first = true; + continue; + } + + double distance_ = sqrt(pow((circle.center.x - rival_pose.x), 2) + pow((circle.center.y, rival_pose.y), 2)); +1 + obstacle_ok = true; + + if (distance_ <= min_distance) { + + min_distance = distance_; + obstacle_stamp = msg->header.stamp; + obstacle_pose = circle.center; + + if(obstacle_stamp.seconds() != obstacle_stamp_pre.seconds()){ + + obstacle_vel.x = (obstacle_pose.x - obstacle_pose_pre.x) / (obstacle_stamp.seconds() - obstacle_stamp_pre.seconds()); + obstacle_vel.y = (obstacle_pose.y - obstacle_pose_pre.y) / (obstacle_stamp.seconds() - obstacle_stamp_pre.seconds()); + obstacle_pose_pre = obstacle_pose; + obstacle_vel_pre = obstacle_vel; + obstacle_stamp_pre = obstacle_stamp; + } + } + } + + if (!obstacle_ok){ + + if (dt == 0) return; + if (locking_rad > 3) return; + locking_rad += locking_rad + dt * lockrad_growing_rate; + } + else + locking_rad = p_locking_rad; + + return; +} + +void Rival::fusion() { + + rival_ok = true; + + if(obstacle_ok){ + rival_pose = obstacle_pose; + rival_vel = obstacle_vel; + } + else + rival_ok = false; + + // RCLCPP_INFO(this->get_logger(),"obstacle_ok: %d", obstacle_ok); + obstacle_ok = false; +} + +void Rival::timerCallback(){ + + static geometry_msgs::msg::Point rival_pose_pre; + static geometry_msgs::msg::Vector3 rival_vel_pre; + rclcpp::Clock clock; + + fusion(); + + if(rival_ok){ + + rival_stamp = clock.now(); + rival_vel = lpf(vel_lpf_gain, rival_vel_pre, rival_vel); + publish_rival(); + broadcast_rival_tf(); + rival_pose_pre = rival_pose; + rival_vel_pre = rival_vel; + RCLCPP_INFO(this->get_logger(),"rival_pose: %f, %f", rival_pose.x, rival_pose.y); + RCLCPP_INFO(this->get_logger(),"rival_vel: %f, %f", rival_vel.x, rival_vel.y); + rival_ok = false; + } +} + +void Rival::publish_rival() { + + nav_msgs::msg::Odometry msg; + msg.header.stamp = rival_stamp; + msg.header.frame_id = robot_name + "/map"; + msg.child_frame_id = rival_name + "/final_pose"; + msg.pose.pose.position = rival_pose; + msg.pose.pose.orientation.w = 1; + msg.twist.twist.linear = rival_vel; + + rival_pub->publish(msg); +} + +void Rival::broadcast_rival_tf() { + + static rclcpp::Time stamp_prev; + + if (stamp_prev.nanoseconds() != rival_stamp.nanoseconds()) { + + geometry_msgs::msg::TransformStamped transformStamped; + + transformStamped.header.stamp = rival_stamp; + transformStamped.header.frame_id = robot_name + "/map"; + transformStamped.child_frame_id = rival_name + "/base_footprint"; + + transformStamped.transform.translation.x = rival_pose.x; + transformStamped.transform.translation.y = rival_pose.y; + transformStamped.transform.translation.z = rival_pose.z; + + tf2::Quaternion q; + q.setRPY(0, 0, 0); // Roll, Pitch, Yaw + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + br->sendTransform(transformStamped); + } + stamp_prev = rival_stamp; +} + +int main(int argc, char * argv[]){ + + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} \ No newline at end of file From 76e543f05d6411c80f56b3c7f7fb59a4b4d05bcf Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 22:34:33 +0800 Subject: [PATCH 022/184] Fix: (BeaconProb) lidar_cov - move out of loop - cov is a 6 by 6 matrix --- .../lidar_localization_pkg/lidar_member_function.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 976dc8d..b773a1c 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -262,9 +262,9 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): lidar_pose[2] = angle_limit_checking(np.arctan2(robot_sin, robot_cos)) - P_post[0, 0] /= max_likelihood - P_post[1, 1] /= max_likelihood - P_post[2, 2] /= max_likelihood + P_post[0, 0] /= max_likelihood + P_post[1, 1] /= max_likelihood + P_post[2, 2] /= max_likelihood # publish the lidar pose lidar_pose_msg = PoseWithCovarianceStamped() @@ -280,7 +280,10 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): lidar_pose_msg.pose.covariance = [ P_post[0, 0], 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, P_post[1, 1], 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, P_post[2, 2], + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, P_post[2, 2] ] # self.get_logger().debug(f"lidar_pose: {lidar_pose}") self.lidar_pose_pub.publish(lidar_pose_msg) From 14e4cdfe1ac356c64f8bedd6dfb76fb249e940f2 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 16 Jan 2025 23:58:48 +0800 Subject: [PATCH 023/184] Fix: (BeaconProb) computation time before: Time cost for landmarks_candidate: 0.0017452239990234375 Time cost for landmarks_candidate: 2.1457672119140625e-06 Time cost for landmarks_set: 0.0009710788726806641 Time cost for sorting: 0.00033855438232421875 Time cost for solving X: 0.0002930164337158203 Time cost for find theta: 0.00011181831359863281 Time cost for adjusting lidar_cov: 6.9141387939453125e-06 Time cost for creating lidar_pose_msg: 0.07376480102539062 // this is the problem Time cost for setting header: 2.4557113647460938e-05 Time cost for setting x: 8.96453857421875e-05 Time cost for setting z: 4.76837158203125e-05 Time cost for setting covariance[0]: 4.506111145019531e-05 Time cost for lidar_pose: 0.07521820068359375 after: Time cost for creating lidar_pose_msg: 7.152557373046875e-07 --- .../lidar_member_function.py | 42 +++++++++---------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index b773a1c..1ff5dc7 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -51,6 +51,7 @@ def __init__(self): self.P_pred = [] self.newPose = False self.R = np.array([[0.05**2, 0.0], [0.0, 0.05**2]]) # R: measurement noise; TODO: tune the value + self.lidar_pose_msg = PoseWithCovarianceStamped() # def listener_callback(self, msg): # self.get_logger().info('I heard: "%s"' % msg.data) @@ -83,7 +84,7 @@ def obstacle_callback(self, msg): if len(self.landmarks_set) == 0: self.print_debug("empty landmarks set") return - self.lidar_pose, self.P_post = self.get_lidar_pose(self.landmarks_set, self.landmarks_map) + self.lidar_pose, self.lidar_cov = self.get_lidar_pose(self.landmarks_set, self.landmarks_map) # clear used data self.clear_data() @@ -230,7 +231,7 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): max_likelihood_idx = next(i for i, set in enumerate(landmarks_set) if set['probability_set'] == max_likelihood) lidar_pose = np.zeros(3) - P_post = np.diag([0.05**2, 0.05**2, 0.05**2]) # what should the optimal value be? + lidar_cov = np.diag([0.05**2, 0.05**2, 0.05**2]) # what should the optimal value be? # If the most likely set has at least 3 beacons if len(landmarks_set[max_likelihood_idx]['beacons']) >= 3: @@ -262,31 +263,30 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): lidar_pose[2] = angle_limit_checking(np.arctan2(robot_sin, robot_cos)) - P_post[0, 0] /= max_likelihood - P_post[1, 1] /= max_likelihood - P_post[2, 2] /= max_likelihood + lidar_cov[0, 0] /= max_likelihood + lidar_cov[1, 1] /= max_likelihood + lidar_cov[2, 2] /= max_likelihood # publish the lidar pose - lidar_pose_msg = PoseWithCovarianceStamped() - lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() # TODO: compensation - lidar_pose_msg.header.frame_id = 'map' #TODO: param - lidar_pose_msg.pose.pose.position.x = lidar_pose[0] - lidar_pose_msg.pose.pose.position.y = lidar_pose[1] - lidar_pose_msg.pose.pose.position.z = 0.0 - lidar_pose_msg.pose.pose.orientation.x = 0.0 - lidar_pose_msg.pose.pose.orientation.y = 0.0 - lidar_pose_msg.pose.pose.orientation.z = np.sin(lidar_pose[2] / 2) - lidar_pose_msg.pose.pose.orientation.w = np.cos(lidar_pose[2] / 2) - lidar_pose_msg.pose.covariance = [ - P_post[0, 0], 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, P_post[1, 1], 0.0, 0.0, 0.0, 0.0, + self.lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() # TODO: compensation + self.lidar_pose_msg.header.frame_id = 'map' #TODO: param + self.lidar_pose_msg.pose.pose.position.x = lidar_pose[0] + self.lidar_pose_msg.pose.pose.position.y = lidar_pose[1] + self.lidar_pose_msg.pose.pose.position.z = 0.0 + self.lidar_pose_msg.pose.pose.orientation.x = 0.0 + self.lidar_pose_msg.pose.pose.orientation.y = 0.0 + self.lidar_pose_msg.pose.pose.orientation.z = np.sin(lidar_pose[2] / 2) + self.lidar_pose_msg.pose.pose.orientation.w = np.cos(lidar_pose[2] / 2) + self.lidar_pose_msg.pose.covariance = [ + lidar_cov[0, 0], 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, lidar_cov[1, 1], 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, P_post[2, 2] + 0.0, 0.0, 0.0, 0.0, 0.0, lidar_cov[2, 2] ] # self.get_logger().debug(f"lidar_pose: {lidar_pose}") - self.lidar_pose_pub.publish(lidar_pose_msg) + self.lidar_pose_pub.publish(self.lidar_pose_msg) # self.get_logger().debug("Published lidar_pose message") except np.linalg.LinAlgError as e: @@ -294,7 +294,7 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): else: self.get_logger().debug("not enough beacons") - return lidar_pose, P_post + return lidar_pose, lidar_cov def get_geometry_consistency(self, beacons): geometry_description = {} From 809aa7fe527407218276908607774dfb54bcf791 Mon Sep 17 00:00:00 2001 From: mac781 Date: Fri, 17 Jan 2025 18:14:08 +0800 Subject: [PATCH 024/184] Fix within_lock --- .../include/imm_filter/imm_filter_node.h | 15 +-------------- .../rival/imm_filter/src/imm_filter_node.cpp | 15 +++++++++++++++ .../config/rival_localization.yaml | 2 +- .../rival_localization/src/rival_localization.cpp | 10 ++++++---- 4 files changed, 23 insertions(+), 19 deletions(-) diff --git a/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h b/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h index 3189fe9..d46b09a 100644 --- a/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h +++ b/localization-devel-ws/rival/imm_filter/include/imm_filter/imm_filter_node.h @@ -17,20 +17,7 @@ using namespace std::placeholders; class filter : public rclcpp::Node{ public: - filter() : Node("imm_filter_node"){ - - IMM imm; - - model_ = imm; - first_ = true; - - robot_name = "robot"; - rival_name = "rival_final"; - - imm_sub = this->create_subscription("raw_pose", 10, std::bind(&filter::obstacles_callback, this, _1)); - imm_pub = this->create_publisher("final_pose", 10); - imm_br = std::make_shared(this); - } + filter(); void obstacles_callback(const nav_msgs::msg::Odometry::ConstPtr& msg); void IMM_publisher(double point_x, double point_y, double velocity_x, double velocity_y, rclcpp::Time time); diff --git a/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp b/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp index d27fce1..af12b7a 100644 --- a/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp +++ b/localization-devel-ws/rival/imm_filter/src/imm_filter_node.cpp @@ -1,5 +1,20 @@ #include "imm_filter/imm_filter_node.h" +filter::filter () : Node("imm_filter_node"){ + + IMM imm; + + model_ = imm; + first_ = true; + + robot_name = "robot"; + rival_name = "rival_final"; + + imm_sub = this->create_subscription("raw_pose", 10, std::bind(&filter::obstacles_callback, this, _1)); + imm_pub = this->create_publisher("final_pose", 10); + imm_br = std::make_shared(this); +} + void filter::obstacles_callback(const nav_msgs::msg::Odometry::ConstPtr& msg){ rclcpp::Clock clock; diff --git a/localization-devel-ws/rival/rival_localization/config/rival_localization.yaml b/localization-devel-ws/rival/rival_localization/config/rival_localization.yaml index 6c4f708..30765dc 100644 --- a/localization-devel-ws/rival/rival_localization/config/rival_localization.yaml +++ b/localization-devel-ws/rival/rival_localization/config/rival_localization.yaml @@ -11,7 +11,7 @@ obstacle_detector_to_map: discard_converted_segments: false transform_coordinates: true - min_group_points: 20 + min_group_points: 50 max_group_distance: 0.04 distance_proportion: 0.00628 diff --git a/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp b/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp index 921d6cd..1cda1c8 100644 --- a/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp +++ b/localization-devel-ws/rival/rival_localization/src/rival_localization.cpp @@ -71,14 +71,16 @@ void Rival::obstacles_callback(const obstacle_detector::msg::Obstacles::ConstPtr static geometry_msgs::msg::Point obstacle_pose_pre; static geometry_msgs::msg::Vector3 obstacle_vel_pre; static rclcpp::Time obstacle_stamp_pre; - double dt = msg->header.stamp.sec - obstacle_stamp_pre.seconds(); + static rclcpp::Time Obstacles_stamp_now; + Obstacles_stamp_now = msg->header.stamp; + double dt = Obstacles_stamp_now.seconds() - obstacle_stamp_pre.seconds(); double min_distance = 400; for (const obstacle_detector::msg::CircleObstacle& circle : msg->circles) { if (!in_playArea_obs(circle.center)) continue; - // if (!within_lock(obstacle_pose_pre, circle.center, dt)) continue; + if (!within_lock(obstacle_pose_pre, circle.center, dt)) continue; if (!first){ @@ -91,7 +93,7 @@ void Rival::obstacles_callback(const obstacle_detector::msg::Obstacles::ConstPtr } double distance_ = sqrt(pow((circle.center.x - rival_pose.x), 2) + pow((circle.center.y, rival_pose.y), 2)); -1 + obstacle_ok = true; if (distance_ <= min_distance) { @@ -119,7 +121,7 @@ void Rival::obstacles_callback(const obstacle_detector::msg::Obstacles::ConstPtr } else locking_rad = p_locking_rad; - + return; } From c92ae3de033a8c9a4c219d231e93a03342dda60a Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 17 Jan 2025 18:55:58 +0800 Subject: [PATCH 025/184] Add: ros bridge and rosserial by @pomelo925 by: @pomelo925 https://github.com/pomelo925/TTennis-Pickup-Robot/tree/main/3.Software/E.Communication --- docker/local-ros2/OdomComm/_run.sh | 14 + docker/local-ros2/OdomComm/build_and_run.sh | 22 + .../OdomComm/comm-ws/.catkin_workspace | 1 + .../OdomComm/comm-ws/build/.built_by | 1 + .../OdomComm/comm-ws/build/CATKIN_IGNORE | 0 .../OdomComm/comm-ws/build/CMakeCache.txt | 838 +++++++++ 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docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh create mode 100644 docker/local-ros2/OdomComm/comm-ws/src/run_test.sh create mode 100644 docker/local-ros2/OdomComm/comm-ws/start_flash.sh create mode 100644 docker/local-ros2/OdomComm/docker/Dockerfile create mode 100644 docker/local-ros2/OdomComm/docker/compose.yml create mode 100644 docker/local-ros2/OdomComm/docker/start-bridge.sh create mode 100755 docker/local-ros2/OdomComm/pull_and_run.sh diff --git a/docker/local-ros2/OdomComm/_run.sh b/docker/local-ros2/OdomComm/_run.sh new file mode 100644 index 0000000..e51df1b --- /dev/null +++ b/docker/local-ros2/OdomComm/_run.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +## 1. make scripts & library executable +echo "=== [COMMUNICATION] ===" +find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication up -d \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/build_and_run.sh b/docker/local-ros2/OdomComm/build_and_run.sh new file mode 100644 index 0000000..010fb70 --- /dev/null +++ b/docker/local-ros2/OdomComm/build_and_run.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +## 0. clean container within same group +echo "=== [COMMUNICATION] Build & Run ===" +echo "[COMMUNICATION] Remove Containers ..." +docker compose -p communication down --volumes --remove-orphans + +## 1. make scripts & library executable +find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. build image +echo "[COMMUNICATION] Building..." +docker compose -p communication build + +## 4. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication up -d \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/.catkin_workspace b/docker/local-ros2/OdomComm/comm-ws/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/docker/local-ros2/OdomComm/comm-ws/build/.built_by b/docker/local-ros2/OdomComm/comm-ws/build/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/CATKIN_IGNORE b/docker/local-ros2/OdomComm/comm-ws/build/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/docker/local-ros2/OdomComm/comm-ws/build/CMakeCache.txt b/docker/local-ros2/OdomComm/comm-ws/build/CMakeCache.txt new file mode 100644 index 0000000..827c380 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/CMakeCache.txt @@ -0,0 +1,838 @@ +# This is the CMakeCache file. +# For build in directory: /root/comm-ws/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Builds the googlemock subproject +BUILD_GMOCK:BOOL=ON + +//Build dynamically-linked binaries +BUILD_SHARED_LIBS:BOOL=ON + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0 + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/usr/include + 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1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/docker/local-ros2/OdomComm/comm-ws/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/docker/local-ros2/OdomComm/comm-ws/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100644 index 0000000000000000000000000000000000000000..b5c91a373fc518990e2aec59df62ee3a3ddb612a GIT binary patch literal 16712 zcmeHOeQX>@6`%9jiPI)$Cv}LMwDpn?$)WY-Y!c(7HNCTa&K|OpHnC}t>n>~G**>@r 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+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} diff --git a/docker/local-ros2/OdomComm/comm-ws/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out b/docker/local-ros2/OdomComm/comm-ws/build/CMakeFiles/3.16.3/CompilerIdCXX/a.out new file mode 100644 index 0000000000000000000000000000000000000000..2881803fe1c1315653cec8eead6766e2c9b69693 GIT binary patch literal 16720 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+# Build rule for target. +roscpp_generate_messages_lisp: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_lisp +.PHONY : roscpp_generate_messages_lisp + +# fast build rule for target. +roscpp_generate_messages_lisp/fast: + $(MAKE) -f flask_esp8266/CMakeFiles/roscpp_generate_messages_lisp.dir/build.make flask_esp8266/CMakeFiles/roscpp_generate_messages_lisp.dir/build +.PHONY : roscpp_generate_messages_lisp/fast + +#============================================================================= +# Target rules for targets named rosgraph_msgs_generate_messages_py + +# Build rule for target. +rosgraph_msgs_generate_messages_py: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_py +.PHONY : rosgraph_msgs_generate_messages_py + +# fast build rule for target. +rosgraph_msgs_generate_messages_py/fast: + $(MAKE) -f flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build.make flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build +.PHONY : rosgraph_msgs_generate_messages_py/fast + +#============================================================================= +# Target rules for targets named topic_tools_generate_messages_cpp + +# Build rule for target. +topic_tools_generate_messages_cpp: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 topic_tools_generate_messages_cpp +.PHONY : topic_tools_generate_messages_cpp + +# fast build rule for target. +topic_tools_generate_messages_cpp/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_cpp.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_cpp.dir/build +.PHONY : topic_tools_generate_messages_cpp/fast + +#============================================================================= +# Target rules for targets named topic_tools_generate_messages_eus + +# Build rule for target. +topic_tools_generate_messages_eus: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 topic_tools_generate_messages_eus +.PHONY : topic_tools_generate_messages_eus + +# fast build rule for target. +topic_tools_generate_messages_eus/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_eus.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_eus.dir/build +.PHONY : topic_tools_generate_messages_eus/fast + +#============================================================================= +# Target rules for targets named topic_tools_generate_messages_lisp + +# Build rule for target. +topic_tools_generate_messages_lisp: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 topic_tools_generate_messages_lisp +.PHONY : topic_tools_generate_messages_lisp + +# fast build rule for target. +topic_tools_generate_messages_lisp/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_lisp.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_lisp.dir/build +.PHONY : topic_tools_generate_messages_lisp/fast + +#============================================================================= +# Target rules for targets named rosserial_server_serial_node + +# Build rule for target. +rosserial_server_serial_node: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 rosserial_server_serial_node +.PHONY : rosserial_server_serial_node + +# fast build rule for target. +rosserial_server_serial_node/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_serial_node.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_serial_node.dir/build +.PHONY : rosserial_server_serial_node/fast + +#============================================================================= +# Target rules for targets named topic_tools_generate_messages_nodejs + +# Build rule for target. +topic_tools_generate_messages_nodejs: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 topic_tools_generate_messages_nodejs +.PHONY : topic_tools_generate_messages_nodejs + +# fast build rule for target. +topic_tools_generate_messages_nodejs/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_nodejs.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_nodejs.dir/build +.PHONY : topic_tools_generate_messages_nodejs/fast + +#============================================================================= +# Target rules for targets named rosserial_server_lookup + +# Build rule for target. +rosserial_server_lookup: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 rosserial_server_lookup +.PHONY : rosserial_server_lookup + +# fast build rule for target. +rosserial_server_lookup/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_lookup.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_lookup.dir/build +.PHONY : rosserial_server_lookup/fast + +#============================================================================= +# Target rules for targets named rosserial_server_socket_node + +# Build rule for target. +rosserial_server_socket_node: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 rosserial_server_socket_node +.PHONY : rosserial_server_socket_node + +# fast build rule for target. +rosserial_server_socket_node/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_socket_node.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_socket_node.dir/build +.PHONY : rosserial_server_socket_node/fast + +#============================================================================= +# Target rules for targets named rosserial_server_udp_socket_node + +# Build rule for target. +rosserial_server_udp_socket_node: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 rosserial_server_udp_socket_node +.PHONY : rosserial_server_udp_socket_node + +# fast build rule for target. +rosserial_server_udp_socket_node/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_udp_socket_node.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/rosserial_server_udp_socket_node.dir/build +.PHONY : rosserial_server_udp_socket_node/fast + +#============================================================================= +# Target rules for targets named topic_tools_generate_messages_py + +# Build rule for target. +topic_tools_generate_messages_py: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 topic_tools_generate_messages_py +.PHONY : topic_tools_generate_messages_py + +# fast build rule for target. +topic_tools_generate_messages_py/fast: + $(MAKE) -f firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_py.dir/build.make firmware_commun/src/rosserial_server/CMakeFiles/topic_tools_generate_messages_py.dir/build +.PHONY : topic_tools_generate_messages_py/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... doxygen" + @echo "... run_tests" + @echo "... clean_test_results" + @echo "... tests" + @echo "... download_extra_data" + @echo "... gmock_main" + @echo "... gmock" + @echo "... gtest_main" + @echo "... gtest" + @echo "... rosserial_msgs_generate_messages_py" + @echo "... _catkin_empty_exported_target" + @echo "... rosserial_msgs_genpy" + @echo "... rosserial_msgs_gencpp" + @echo "... rosserial_msgs_generate_messages" + @echo "... rosserial_msgs_geneus" + @echo "... rosserial_msgs_generate_messages_eus" + @echo "... _rosserial_msgs_generate_messages_check_deps_Log" + @echo "... rosserial_msgs_generate_messages_nodejs" + @echo "... rosserial_msgs_gennodejs" + @echo "... _rosserial_msgs_generate_messages_check_deps_TopicInfo" + @echo "... _rosserial_msgs_generate_messages_check_deps_RequestParam" + @echo "... rosserial_msgs_generate_messages_cpp" + @echo "... rosserial_msgs_genlisp" + @echo "... rosserial_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_py" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... roscpp_generate_messages_cpp" + @echo "... roscpp_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_lisp" + @echo "... roscpp_generate_messages_py" + @echo "... std_msgs_generate_messages_eus" + @echo "... roscpp_generate_messages_nodejs" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... roscpp_generate_messages_lisp" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... topic_tools_generate_messages_cpp" + @echo "... topic_tools_generate_messages_eus" + @echo "... topic_tools_generate_messages_lisp" + @echo "... rosserial_server_serial_node" + @echo "... topic_tools_generate_messages_nodejs" + @echo "... rosserial_server_lookup" + @echo "... rosserial_server_socket_node" + @echo "... rosserial_server_udp_socket_node" + @echo "... topic_tools_generate_messages_py" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/.rosinstall b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/.rosinstall new file mode 100644 index 0000000..8600f9f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/comm-ws/devel/setup.sh diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/_setup_util.py b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/_setup_util.py new file mode 100644 index 0000000..c8d8434 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/env.sh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.sh new file mode 100644 index 0000000..56e80a9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.sh new file mode 100644 index 0000000..ce2d929 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin/catkin_generated/version/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..c37e287 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.8.10") +set(catkin_MAINTAINER "Michael Carroll , Tully Foote ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/env_cached.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/env_cached.sh new file mode 100644 index 0000000..d6be91d --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/generate_cached_setup.py b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..3aa5b74 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/noetic'.split(';'): + python_path = os.path.join(workspace, 'lib/python3/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/root/comm-ws/devel/env.sh') + +output_filename = '/root/comm-ws/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/.rosinstall b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..ff54f6a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/comm-ws/install/setup.sh diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/_setup_util.py b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/_setup_util.py new file mode 100644 index 0000000..c8d8434 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/env.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..e8f74ad --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/comm-ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..956beef --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/comm-ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.cmake b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000..eca83f1 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.cmake @@ -0,0 +1,22 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "rosserial_msgs") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "firmware_commun/src/rosserial_msgs") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "flask_esp8266") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "flask_esp8266") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "rosserial_server") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "firmware_commun/src/rosserial_server") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.py b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.py new file mode 100644 index 0000000..27f7651 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/root/comm-ws/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/opt/ros/noetic'.split(';') if '/opt/ros/noetic' != '' else [] diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/setup_cached.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/setup_cached.sh new file mode 100644 index 0000000..34f04bd --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/setup_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/root/comm-ws/devel:$CMAKE_PREFIX_PATH" +export LD_LIBRARY_PATH="/root/comm-ws/devel/lib:$LD_LIBRARY_PATH" +export PKG_CONFIG_PATH="/root/comm-ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PWD='/root/comm-ws/build' +export PYTHONPATH="/root/comm-ws/devel/lib/python3/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES='/root/comm-ws/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/root/comm-ws/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100644 index 0000000..c8d8434 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000..7ec7539 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000..61e815f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,49 @@ + + + + catkin + 0.8.10 + Low-level build system macros and infrastructure for ROS. + Michael Carroll + Tully Foote + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_make.cache b/docker/local-ros2/OdomComm/comm-ws/build/catkin_make.cache new file mode 100644 index 0000000..b531acd --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/catkin_make.cache @@ -0,0 +1,2 @@ +firmware_commun/src/rosserial_msgs:firmware_commun/src/rosserial_server:flask_esp8266 +-DCATKIN_DEVEL_PREFIX=/root/comm-ws/devel -DCMAKE_INSTALL_PREFIX=/root/comm-ws/install -G Unix Makefiles \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/cmake_install.cmake new file mode 100644 index 0000000..3a28770 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/cmake_install.cmake @@ -0,0 +1,149 @@ +# Install script for directory: /root/comm-ws/src + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/root/comm-ws/install/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/root/comm-ws/install" TYPE PROGRAM FILES "/root/comm-ws/build/catkin_generated/installspace/_setup_util.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/root/comm-ws/install/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): 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"xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/root/comm-ws/install/setup.sh;/root/comm-ws/install/local_setup.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/root/comm-ws/install" TYPE FILE FILES + "/root/comm-ws/build/catkin_generated/installspace/setup.sh" + "/root/comm-ws/build/catkin_generated/installspace/local_setup.sh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/root/comm-ws/install/setup.zsh;/root/comm-ws/install/local_setup.zsh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING 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list_install_components" + @echo "... std_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... roscpp_generate_messages_eus" + @echo "... std_msgs_generate_messages_py" + @echo "... lib/odometry.o" + @echo "... lib/odometry.i" + @echo "... lib/odometry.s" + @echo "... src/odometry_node.o" + @echo "... src/odometry_node.i" + @echo "... src/odometry_node.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git 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b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake new file mode 100644 index 0000000..f154122 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(firmware_commun_CONFIG_INCLUDED) + return() +endif() +set(firmware_commun_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(firmware_commun_SOURCE_PREFIX /root/comm-ws/src/firmware_commun) + set(firmware_commun_DEVEL_PREFIX /root/comm-ws/devel) + set(firmware_commun_INSTALL_PREFIX "") + set(firmware_commun_PREFIX ${firmware_commun_DEVEL_PREFIX}) +else() + set(firmware_commun_SOURCE_PREFIX "") + set(firmware_commun_DEVEL_PREFIX "") + set(firmware_commun_INSTALL_PREFIX /root/comm-ws/install) + set(firmware_commun_PREFIX ${firmware_commun_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'firmware_commun' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(firmware_commun_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(firmware_commun_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${firmware_commun_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(firmware_commun_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND firmware_commun_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND firmware_commun_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT firmware_commun_NUM_DUMMY_TARGETS) + set(firmware_commun_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR firmware_commun_NUM_DUMMY_TARGETS "${firmware_commun_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND firmware_commun_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND firmware_commun_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND firmware_commun_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(firmware_commun_LIBRARY_DIRS ${lib_path}) + list(APPEND firmware_commun_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'firmware_commun'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND firmware_commun_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(firmware_commun_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${firmware_commun_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 firmware_commun_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${firmware_commun_dep}_FOUND) + find_package(${firmware_commun_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${firmware_commun_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(firmware_commun_INCLUDE_DIRS ${${firmware_commun_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${firmware_commun_dep}_LIBRARIES}) + _list_append_deduplicate(firmware_commun_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) + + _list_append_unique(firmware_commun_LIBRARY_DIRS ${${firmware_commun_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(firmware_commun_EXPORTED_TARGETS ${${firmware_commun_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${firmware_commun_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..454cf03 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/package.cmake new file mode 100644 index 0000000..251bbf5 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "firmware_commun") +set(firmware_commun_VERSION "0.0.0") +set(firmware_commun_MAINTAINER "root ") +set(firmware_commun_PACKAGE_FORMAT "2") +set(firmware_commun_BUILD_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") +set(firmware_commun_BUILD_EXPORT_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") +set(firmware_commun_BUILDTOOL_DEPENDS "catkin") +set(firmware_commun_BUILDTOOL_EXPORT_DEPENDS ) +set(firmware_commun_EXEC_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") +set(firmware_commun_RUN_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") +set(firmware_commun_TEST_DEPENDS ) +set(firmware_commun_DOC_DEPENDS ) +set(firmware_commun_URL_WEBSITE "") +set(firmware_commun_URL_BUGTRACKER "") +set(firmware_commun_URL_REPOSITORY "") +set(firmware_commun_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..7eb3ab2 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "firmware_commun" +PROJECT_SPACE_DIR = "/root/comm-ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..c0258f6 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "firmware_commun" +PROJECT_SPACE_DIR = "/root/comm-ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/package.xml.stamp new file mode 100644 index 0000000..ac44adb --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/package.xml.stamp @@ -0,0 +1,71 @@ + + + firmware_commun + 0.0.0 + The firmware_commun package + + + + + root + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + geometry_msgs + roscpp + rospy + std_msgs + geometry_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/cmake_install.cmake new file mode 100644 index 0000000..500c8c7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /root/comm-ws/src/firmware_commun + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/root/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_commun.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/firmware_commun/cmake" TYPE FILE FILES + "/root/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake" + "/root/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/firmware_commun" TYPE FILE FILES "/root/comm-ws/src/firmware_commun/package.xml") +endif() + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/CMakeDirectoryInformation.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..65c974a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,16 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Relative path conversion top directories. +set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/root/comm-ws/src") +set(CMAKE_RELATIVE_PATH_TOP_BINARY "/root/comm-ws/build") + +# Force unix paths in dependencies. +set(CMAKE_FORCE_UNIX_PATHS 1) + + +# The C and CXX include file regular expressions for this directory. +set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") +set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$") +set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN}) +set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN}) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/_catkin_empty_exported_target.dir/DependInfo.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/_catkin_empty_exported_target.dir/DependInfo.cmake new file mode 100644 index 0000000..19fab21 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/_catkin_empty_exported_target.dir/DependInfo.cmake @@ -0,0 +1,11 @@ +# The set of languages for which implicit dependencies are needed: +set(CMAKE_DEPENDS_LANGUAGES + ) +# The set of files for implicit dependencies of each language: + +# Targets to which this target links. +set(CMAKE_TARGET_LINKED_INFO_FILES + ) + +# Fortran module output directory. +set(CMAKE_Fortran_TARGET_MODULE_DIR "") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/_catkin_empty_exported_target.dir/build.make b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/_catkin_empty_exported_target.dir/build.make new file mode 100644 index 0000000..a7b22b7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/CMakeFiles/_catkin_empty_exported_target.dir/build.make @@ -0,0 +1,72 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Delete rule output on recipe failure. +.DELETE_ON_ERROR: + + 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$(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gencpp.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gencpp.dir/build +.PHONY : rosserial_msgs_gencpp/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages.dir/rule + +# Convenience name for target. +rosserial_msgs_generate_messages: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages.dir/rule + +.PHONY : rosserial_msgs_generate_messages + +# fast build rule for target. +rosserial_msgs_generate_messages/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages.dir/build +.PHONY : rosserial_msgs_generate_messages/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_geneus.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_geneus.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_geneus.dir/rule + +# Convenience name for target. +rosserial_msgs_geneus: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_geneus.dir/rule + +.PHONY : rosserial_msgs_geneus + +# fast build rule for target. +rosserial_msgs_geneus/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_geneus.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_geneus.dir/build +.PHONY : rosserial_msgs_geneus/fast + +# Convenience name for target. 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_rosserial_msgs_generate_messages_check_deps_Log/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_nodejs.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_nodejs.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_nodejs.dir/rule + +# Convenience name for target. +rosserial_msgs_generate_messages_nodejs: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_nodejs.dir/rule + +.PHONY : rosserial_msgs_generate_messages_nodejs + +# fast build rule for target. +rosserial_msgs_generate_messages_nodejs/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_nodejs.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_nodejs.dir/build +.PHONY : rosserial_msgs_generate_messages_nodejs/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gennodejs.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gennodejs.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gennodejs.dir/rule + +# Convenience name for target. +rosserial_msgs_gennodejs: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gennodejs.dir/rule + +.PHONY : rosserial_msgs_gennodejs + +# fast build rule for target. +rosserial_msgs_gennodejs/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gennodejs.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_gennodejs.dir/build +.PHONY : rosserial_msgs_gennodejs/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_TopicInfo.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_TopicInfo.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_TopicInfo.dir/rule + +# Convenience name for target. +_rosserial_msgs_generate_messages_check_deps_TopicInfo: firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_TopicInfo.dir/rule + +.PHONY : _rosserial_msgs_generate_messages_check_deps_TopicInfo + +# fast build rule for target. +_rosserial_msgs_generate_messages_check_deps_TopicInfo/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_TopicInfo.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_TopicInfo.dir/build +.PHONY : _rosserial_msgs_generate_messages_check_deps_TopicInfo/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_RequestParam.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_RequestParam.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_RequestParam.dir/rule + +# Convenience name for target. +_rosserial_msgs_generate_messages_check_deps_RequestParam: firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_RequestParam.dir/rule + +.PHONY : _rosserial_msgs_generate_messages_check_deps_RequestParam + +# fast build rule for target. +_rosserial_msgs_generate_messages_check_deps_RequestParam/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_RequestParam.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/_rosserial_msgs_generate_messages_check_deps_RequestParam.dir/build +.PHONY : _rosserial_msgs_generate_messages_check_deps_RequestParam/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_cpp.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_cpp.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_cpp.dir/rule + +# Convenience name for target. +rosserial_msgs_generate_messages_cpp: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_cpp.dir/rule + +.PHONY : rosserial_msgs_generate_messages_cpp + +# fast build rule for target. +rosserial_msgs_generate_messages_cpp/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_cpp.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_cpp.dir/build +.PHONY : rosserial_msgs_generate_messages_cpp/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_genlisp.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_genlisp.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_genlisp.dir/rule + +# Convenience name for target. +rosserial_msgs_genlisp: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_genlisp.dir/rule + +.PHONY : rosserial_msgs_genlisp + +# fast build rule for target. +rosserial_msgs_genlisp/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_genlisp.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_genlisp.dir/build +.PHONY : rosserial_msgs_genlisp/fast + +# Convenience name for target. +firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_lisp.dir/rule: + cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_lisp.dir/rule +.PHONY : firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_lisp.dir/rule + +# Convenience name for target. +rosserial_msgs_generate_messages_lisp: firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_lisp.dir/rule + +.PHONY : rosserial_msgs_generate_messages_lisp + +# fast build rule for target. +rosserial_msgs_generate_messages_lisp/fast: + cd /root/comm-ws/build && $(MAKE) -f firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_lisp.dir/build.make firmware_commun/src/rosserial_msgs/CMakeFiles/rosserial_msgs_generate_messages_lisp.dir/build +.PHONY : rosserial_msgs_generate_messages_lisp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... list_install_components" + @echo "... test" + @echo "... rosserial_msgs_generate_messages_py" + @echo "... _catkin_empty_exported_target" + @echo "... rosserial_msgs_genpy" + @echo "... rosserial_msgs_gencpp" + @echo "... rosserial_msgs_generate_messages" + @echo "... rosserial_msgs_geneus" + @echo "... rosserial_msgs_generate_messages_eus" + @echo "... _rosserial_msgs_generate_messages_check_deps_Log" + @echo "... rosserial_msgs_generate_messages_nodejs" + @echo "... rosserial_msgs_gennodejs" + @echo "... install" + @echo "... _rosserial_msgs_generate_messages_check_deps_TopicInfo" + @echo "... _rosserial_msgs_generate_messages_check_deps_RequestParam" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... rosserial_msgs_generate_messages_cpp" + @echo "... rosserial_msgs_genlisp" + @echo "... rosserial_msgs_generate_messages_lisp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake new file mode 100644 index 0000000..7a84267 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake new file mode 100644 index 0000000..9141566 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in + +_prepend_path("${rosserial_msgs_DIR}/.." "msg" rosserial_msgs_MSG_INCLUDE_DIRS UNIQUE) +set(rosserial_msgs_MSG_DEPENDENCIES ) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc new file mode 100644 index 0000000..28316dc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc @@ -0,0 +1,8 @@ +prefix=/root/comm-ws/install + +Name: rosserial_msgs +Description: Description of rosserial_msgs +Version: 0.9.2 +Cflags: -I${prefix}/include +Libs: -L${prefix}/lib +Requires: message_runtime diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake new file mode 100644 index 0000000..742fb9a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.9.2") + +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/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake new file mode 100644 index 0000000..767f354 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(rosserial_msgs_CONFIG_INCLUDED) + return() +endif() +set(rosserial_msgs_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(rosserial_msgs_SOURCE_PREFIX /root/comm-ws/src/firmware_commun/src/rosserial_msgs) + set(rosserial_msgs_DEVEL_PREFIX /root/comm-ws/devel) + set(rosserial_msgs_INSTALL_PREFIX "") + set(rosserial_msgs_PREFIX ${rosserial_msgs_DEVEL_PREFIX}) +else() + set(rosserial_msgs_SOURCE_PREFIX "") + set(rosserial_msgs_DEVEL_PREFIX "") + set(rosserial_msgs_INSTALL_PREFIX /root/comm-ws/install) + set(rosserial_msgs_PREFIX ${rosserial_msgs_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'rosserial_msgs' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(rosserial_msgs_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include " STREQUAL " ") + set(rosserial_msgs_INCLUDE_DIRS "") + set(_include_dirs "include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/rosserial_msgs " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/rosserial_msgs' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Paul Bouchier , Mike Purvis ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${rosserial_msgs_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT rosserial_msgs_NUM_DUMMY_TARGETS) + set(rosserial_msgs_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR rosserial_msgs_NUM_DUMMY_TARGETS "${rosserial_msgs_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND rosserial_msgs_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND rosserial_msgs_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${lib_path}) + list(APPEND rosserial_msgs_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_msgs'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND rosserial_msgs_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(rosserial_msgs_EXPORTED_TARGETS "rosserial_msgs_generate_messages_cpp;rosserial_msgs_generate_messages_eus;rosserial_msgs_generate_messages_lisp;rosserial_msgs_generate_messages_nodejs;rosserial_msgs_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${rosserial_msgs_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 rosserial_msgs_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${rosserial_msgs_dep}_FOUND) + find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${${rosserial_msgs_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${rosserial_msgs_dep}_LIBRARIES}) + _list_append_deduplicate(rosserial_msgs_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) + + _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${${rosserial_msgs_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(rosserial_msgs_EXPORTED_TARGETS ${${rosserial_msgs_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "rosserial_msgs-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${rosserial_msgs_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/package.cmake new file mode 100644 index 0000000..fbd53d8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "rosserial_msgs") +set(rosserial_msgs_VERSION "0.9.2") +set(rosserial_msgs_MAINTAINER "Paul Bouchier , Mike Purvis ") +set(rosserial_msgs_PACKAGE_FORMAT "1") +set(rosserial_msgs_BUILD_DEPENDS "message_generation") +set(rosserial_msgs_BUILD_EXPORT_DEPENDS "message_runtime") +set(rosserial_msgs_BUILDTOOL_DEPENDS "catkin") +set(rosserial_msgs_BUILDTOOL_EXPORT_DEPENDS ) +set(rosserial_msgs_EXEC_DEPENDS "message_runtime") +set(rosserial_msgs_RUN_DEPENDS "message_runtime") +set(rosserial_msgs_TEST_DEPENDS ) +set(rosserial_msgs_DOC_DEPENDS ) +set(rosserial_msgs_URL_WEBSITE "http://ros.org/wiki/rosserial_msgs") +set(rosserial_msgs_URL_BUGTRACKER "") +set(rosserial_msgs_URL_REPOSITORY "") +set(rosserial_msgs_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..c365aea --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/devel/include".split(';') if "/root/comm-ws/devel/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "rosserial_msgs" +PROJECT_SPACE_DIR = "/root/comm-ws/devel" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..1ac1417 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "rosserial_msgs" +PROJECT_SPACE_DIR = "/root/comm-ws/install" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in new file mode 100644 index 0000000..1fe8307 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in new file mode 100644 index 0000000..7a84267 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp new file mode 100644 index 0000000..9f8ac6d --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp @@ -0,0 +1,18 @@ + + rosserial_msgs + 0.9.2 + + Messages for automatic topic configuration using rosserial. + + Michael Ferguson + Paul Bouchier + Mike Purvis + BSD + http://ros.org/wiki/rosserial_msgs + + catkin + + message_generation + + message_runtime + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp new file mode 100644 index 0000000..eca9adc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp @@ -0,0 +1,167 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +@{ +import os +import sys + +import genmsg +import genmsg.base +genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) +import genmsg.deps +import genmsg.gentools + +# split incoming variables +messages = messages_str.split(';') if messages_str != '' else [] +services = services_str.split(';') if services_str != '' else [] +dependencies = dependencies_str.split(';') if dependencies_str != '' else [] +dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] + +dep_search_paths_dict = {} +dep_search_paths_tuple_list = [] +is_even = True +for val in dep_search_paths: + if is_even: + dep_search_paths_dict.setdefault(val, []) + val_prev = val + is_even = False + else: + dep_search_paths_dict[val_prev].append(val) + dep_search_paths_tuple_list.append((val_prev, val)) + is_even = True +dep_search_paths = dep_search_paths_dict + +if not messages and not services: + print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') + +msg_deps = {} +msg_dep_types = {} +for m in messages: + try: + _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) + msg_deps[m] = [d[1] for d in _deps] + msg_dep_types[m] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) + +srv_deps = {} +srv_dep_types = {} +for s in services: + try: + _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) + srv_deps[s] = [d[1] for d in _deps] + srv_dep_types[s] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) + +}@ +message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") + +set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") + +# Find all generators +@[if langs]@ +@[for l in langs.split(';')]@ +find_package(@l REQUIRED) +@[end for]@ +@[end if]@ + +add_custom_target(@(pkg_name)_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure +@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} +@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} +@[for f in all_deps.keys()]@ +@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} +get_filename_component(_filename "@(f)" NAME_WE) +add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" +) +@[end for]@# messages and services + +# +# langs = @langs +# + +@[if langs]@ +@[for l in langs.split(';')]@ +### Section generating for lang: @l +### Generating Messages +@[for m in msg_deps.keys()]@ +_generate_msg_@(l[3:])(@pkg_name + "@m" + "${MSG_I_FLAGS}" + "@(';'.join(msg_deps[m]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# messages + +### Generating Services +@[for s in srv_deps.keys()]@ +_generate_srv_@(l[3:])(@pkg_name + "@s" + "${MSG_I_FLAGS}" + "@(';'.join(srv_deps[s]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# services + +### Generating Module File +_generate_module_@(l[3:])(@pkg_name + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" +) + +add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) + DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} +) +add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) + +# add dependencies to all check dependencies targets +@[for f in all_deps.keys()]@ +get_filename_component(_filename "@(f)" NAME_WE) +add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) +@[end for]@# messages and services + +# target for backward compatibility +add_custom_target(@(pkg_name)_@(l)) +add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) + +@[end for]@# langs +@[end if]@ + +@[if langs]@ +@[for l in langs.split(';')]@ + +if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) +@[if l == 'genpy']@ + install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") +@[end if]@ + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} +@[if l == 'genpy' and package_has_static_sources]@ + # skip all init files + PATTERN "__init__.py" EXCLUDE + PATTERN "__init__.pyc" EXCLUDE + ) + # install init files which are not in the root folder of the generated code + string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)") + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} + FILES_MATCHING + REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$" +@[end if]@ + ) +endif() +@[for d in dependencies]@ +if(TARGET @(d)_generate_messages_@(l[3:])) + add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) +endif() +@[end for]@# dependencies +@[end for]@# langs +@[end if]@ diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py new file mode 100644 index 0000000..7456c25 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py @@ -0,0 +1,11 @@ +# generated from genmsg/cmake/pkg-genmsg.context.in + +messages_str = "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" +services_str = "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" +pkg_name = "rosserial_msgs" +dependencies_str = "" +langs = "gencpp;geneus;genlisp;gennodejs;genpy" +dep_include_paths_str = "rosserial_msgs;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg" +PYTHON_EXECUTABLE = "/usr/bin/python3" +package_has_static_sources = '' == 'TRUE' +genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake new file mode 100644 index 0000000..7855559 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake @@ -0,0 +1,325 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +message(STATUS "rosserial_msgs: 2 messages, 1 services") + +set(MSG_I_FLAGS "-Irosserial_msgs:/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg") + +# Find all generators +find_package(gencpp REQUIRED) +find_package(geneus REQUIRED) +find_package(genlisp REQUIRED) +find_package(gennodejs REQUIRED) +find_package(genpy REQUIRED) + +add_custom_target(rosserial_msgs_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure + + + +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" "" +) + +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" "" +) + +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" "" +) + +# +# langs = gencpp;geneus;genlisp;gennodejs;genpy +# + +### Section generating for lang: gencpp +### Generating Messages +_generate_msg_cpp(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_cpp(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_cpp(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_cpp(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_cpp}" +) + +add_custom_target(rosserial_msgs_generate_messages_cpp + DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_cpp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_gencpp) +add_dependencies(rosserial_msgs_gencpp rosserial_msgs_generate_messages_cpp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_cpp) + +### Section generating for lang: geneus +### Generating Messages +_generate_msg_eus(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_eus(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_eus(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_eus(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_eus}" +) + +add_custom_target(rosserial_msgs_generate_messages_eus + DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_eus) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_geneus) +add_dependencies(rosserial_msgs_geneus rosserial_msgs_generate_messages_eus) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_eus) + +### Section generating for lang: genlisp +### Generating Messages +_generate_msg_lisp(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_lisp(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_lisp(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_lisp(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_lisp}" +) + +add_custom_target(rosserial_msgs_generate_messages_lisp + DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_lisp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_genlisp) +add_dependencies(rosserial_msgs_genlisp rosserial_msgs_generate_messages_lisp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_lisp) + +### Section generating for lang: gennodejs +### Generating Messages +_generate_msg_nodejs(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_nodejs(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_nodejs(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_nodejs(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_nodejs}" +) + +add_custom_target(rosserial_msgs_generate_messages_nodejs + DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_nodejs) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_nodejs _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_nodejs _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_nodejs _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_gennodejs) +add_dependencies(rosserial_msgs_gennodejs rosserial_msgs_generate_messages_nodejs) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_nodejs) + +### Section generating for lang: genpy +### Generating Messages +_generate_msg_py(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_py(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_py(rosserial_msgs + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_py(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_py}" +) + +add_custom_target(rosserial_msgs_generate_messages_py + DEPENDS ${ALL_GEN_OUTPUT_FILES_py} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_py) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_py _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_py _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_py _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_genpy) +add_dependencies(rosserial_msgs_genpy rosserial_msgs_generate_messages_py) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_py) + + + +if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs + DESTINATION ${gencpp_INSTALL_DIR} + ) +endif() + +if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs + DESTINATION ${geneus_INSTALL_DIR} + ) +endif() + +if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs + DESTINATION ${genlisp_INSTALL_DIR} + ) +endif() + +if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs + DESTINATION ${gennodejs_INSTALL_DIR} + ) +endif() + +if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs) + install(CODE "execute_process(COMMAND \"/usr/bin/python3\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs\")") + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs + DESTINATION ${genpy_INSTALL_DIR} + ) +endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake_install.cmake new file mode 100644 index 0000000..d90d22f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake_install.cmake @@ -0,0 +1,97 @@ +# Install script for directory: /root/comm-ws/src/firmware_commun/src/rosserial_msgs + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_msgs/msg" TYPE FILE FILES + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" + "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_msgs/srv" TYPE FILE FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_msgs/cmake" TYPE FILE FILES "/root/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/root/comm-ws/devel/include/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/root/comm-ws/devel/share/roseus/ros/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/root/comm-ws/devel/share/common-lisp/ros/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/root/comm-ws/devel/share/gennodejs/ros/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + execute_process(COMMAND 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zQH7tk!sKrsKi&oWr3(Kw=DYHLTj3WnKW^3k9^iLxf%9*>$JFoo{QgKqeQuJL}@9N*-q(}ba?BDL+GT^`dvDp7S=DYgu0!3fK`o@m_TcGI6 zSU=XGpF?_7e<{~*pTDdE^dX!%w`}gzr`ey_1 z-?I(&zliyJ9OHK`=@CEjsTsct)_eS~0e`N-FWig!SN6}d3crH+_W8$V!2e3&f5Uv& z`rouI&hM9y{u_}VNVMDcp0!cSZoT>riW{JG4Rzdt_4 zeAnL}*rNE)4(We`;y(@e{~q|yYG=kz`p;#)oPSY~-%i%c{3H9q<^L<`(fDTp|5d>M z@$IqyDD&m#U#0&cte5`NL;Am*^vHh!@V_1SU#R$xGrzmYTl%k2{1=Awzf1972K?^; z{=0R+`Ij>PG>89O*30~BSnsc2{T|GFpO{HsFx->>*D1pfB||0gkD<{$aj^pEUc*$-Ec{s^k^5K(6`>t(@btnTr zH~-(iRrskP`I{AfGT' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${rosserial_server_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(rosserial_server_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "rosserial_server_lookup") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT rosserial_server_NUM_DUMMY_TARGETS) + set(rosserial_server_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR rosserial_server_NUM_DUMMY_TARGETS "${rosserial_server_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND rosserial_server_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND rosserial_server_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(rosserial_server_LIBRARY_DIRS ${lib_path}) + list(APPEND rosserial_server_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_server'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND rosserial_server_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(rosserial_server_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${rosserial_server_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;rosserial_msgs;std_msgs;topic_tools") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 rosserial_server_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${rosserial_server_dep}_FOUND) + find_package(${rosserial_server_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${rosserial_server_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(rosserial_server_INCLUDE_DIRS ${${rosserial_server_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${rosserial_server_dep}_LIBRARIES}) + _list_append_deduplicate(rosserial_server_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) + + _list_append_unique(rosserial_server_LIBRARY_DIRS ${${rosserial_server_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(rosserial_server_EXPORTED_TARGETS ${${rosserial_server_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${rosserial_server_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..454cf03 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/package.cmake new file mode 100644 index 0000000..466cc42 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "rosserial_server") +set(rosserial_server_VERSION "0.9.2") +set(rosserial_server_MAINTAINER "Mike Purvis ") +set(rosserial_server_PACKAGE_FORMAT "2") +set(rosserial_server_BUILD_DEPENDS "python3-dev" "libboost-thread-dev" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_BUILD_EXPORT_DEPENDS "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_BUILDTOOL_DEPENDS "catkin") +set(rosserial_server_BUILDTOOL_EXPORT_DEPENDS ) +set(rosserial_server_EXEC_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_RUN_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_TEST_DEPENDS ) +set(rosserial_server_DOC_DEPENDS ) +set(rosserial_server_URL_WEBSITE "") +set(rosserial_server_URL_BUGTRACKER "") +set(rosserial_server_URL_REPOSITORY "") +set(rosserial_server_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..86fc0b5 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/src/firmware_commun/src/rosserial_server/include".split(';') if "/root/comm-ws/src/firmware_commun/src/rosserial_server/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] +PROJECT_NAME = "rosserial_server" +PROJECT_SPACE_DIR = "/root/comm-ws/devel" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..497c07f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] +PROJECT_NAME = "rosserial_server" +PROJECT_SPACE_DIR = "/root/comm-ws/install" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp new file mode 100644 index 0000000..df73c39 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp @@ -0,0 +1,23 @@ + + + rosserial_server + 0.9.2 + + A more performance- and stability-oriented server alternative implemented + in C++ to rosserial_python. + + + Mike Purvis + Mike Purvis + + BSD + + catkin + rosserial_msgs + std_msgs + roscpp + topic_tools + python3-dev + libboost-thread-dev + libboost-thread + diff 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+#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc new file mode 100644 index 0000000..43ffa35 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc @@ -0,0 +1,8 @@ +prefix=/root/comm-ws/install + +Name: flask_esp8266 +Description: Description of flask_esp8266 +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-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/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake new file mode 100644 index 0000000..34d205c --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(flask_esp8266_CONFIG_INCLUDED) + return() +endif() +set(flask_esp8266_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(flask_esp8266_SOURCE_PREFIX /root/comm-ws/src/flask_esp8266) + set(flask_esp8266_DEVEL_PREFIX /root/comm-ws/devel) + set(flask_esp8266_INSTALL_PREFIX "") + set(flask_esp8266_PREFIX ${flask_esp8266_DEVEL_PREFIX}) +else() + set(flask_esp8266_SOURCE_PREFIX "") + set(flask_esp8266_DEVEL_PREFIX "") + set(flask_esp8266_INSTALL_PREFIX /root/comm-ws/install) + set(flask_esp8266_PREFIX ${flask_esp8266_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'flask_esp8266' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(flask_esp8266_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(flask_esp8266_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${flask_esp8266_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(flask_esp8266_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND flask_esp8266_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND flask_esp8266_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT flask_esp8266_NUM_DUMMY_TARGETS) + set(flask_esp8266_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR flask_esp8266_NUM_DUMMY_TARGETS "${flask_esp8266_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND flask_esp8266_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND flask_esp8266_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND flask_esp8266_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(flask_esp8266_LIBRARY_DIRS ${lib_path}) + list(APPEND flask_esp8266_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'flask_esp8266'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND flask_esp8266_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(flask_esp8266_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${flask_esp8266_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 flask_esp8266_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${flask_esp8266_dep}_FOUND) + find_package(${flask_esp8266_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${flask_esp8266_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(flask_esp8266_INCLUDE_DIRS ${${flask_esp8266_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${flask_esp8266_dep}_LIBRARIES}) + _list_append_deduplicate(flask_esp8266_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) + + _list_append_unique(flask_esp8266_LIBRARY_DIRS ${${flask_esp8266_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(flask_esp8266_EXPORTED_TARGETS ${${flask_esp8266_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${flask_esp8266_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..454cf03 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/package.cmake new file mode 100644 index 0000000..91443a9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "flask_esp8266") +set(flask_esp8266_VERSION "0.0.0") +set(flask_esp8266_MAINTAINER "root ") +set(flask_esp8266_PACKAGE_FORMAT "2") +set(flask_esp8266_BUILD_DEPENDS "roscpp" "rospy" "std_msgs") +set(flask_esp8266_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs") +set(flask_esp8266_BUILDTOOL_DEPENDS "catkin") +set(flask_esp8266_BUILDTOOL_EXPORT_DEPENDS ) +set(flask_esp8266_EXEC_DEPENDS "roscpp" "rospy" "std_msgs") +set(flask_esp8266_RUN_DEPENDS "roscpp" "rospy" "std_msgs") +set(flask_esp8266_TEST_DEPENDS ) +set(flask_esp8266_DOC_DEPENDS ) +set(flask_esp8266_URL_WEBSITE "") +set(flask_esp8266_URL_BUGTRACKER "") +set(flask_esp8266_URL_REPOSITORY "") +set(flask_esp8266_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..0e2852f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "flask_esp8266" +PROJECT_SPACE_DIR = "/root/comm-ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..34d9370 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "flask_esp8266" +PROJECT_SPACE_DIR = "/root/comm-ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/package.xml.stamp new file mode 100644 index 0000000..176331e --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/package.xml.stamp @@ -0,0 +1,68 @@ + + + flask_esp8266 + 0.0.0 + The flask_esp8266 package + + + + + root + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/cmake_install.cmake new file mode 100644 index 0000000..e8b8d9a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /root/comm-ws/src/flask_esp8266 + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/root/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/flask_esp8266/cmake" TYPE FILE FILES + "/root/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake" + "/root/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/flask_esp8266" TYPE FILE FILES "/root/comm-ws/src/flask_esp8266/package.xml") +endif() + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/docker/local-ros2/OdomComm/comm-ws/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..cf9ac80 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,16 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Relative path conversion top directories. +set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/googletest") +set(CMAKE_RELATIVE_PATH_TOP_BINARY "/root/comm-ws/build") + +# Force unix paths in dependencies. +set(CMAKE_FORCE_UNIX_PATHS 1) + + +# The C and CXX include file regular expressions for this directory. +set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") +set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$") +set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN}) +set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN}) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/gtest/CMakeFiles/progress.marks b/docker/local-ros2/OdomComm/comm-ws/build/gtest/CMakeFiles/progress.marks new file mode 100644 index 0000000..573541a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/gtest/CMakeFiles/progress.marks @@ -0,0 +1 @@ +0 diff --git a/docker/local-ros2/OdomComm/comm-ws/build/gtest/CTestTestfile.cmake b/docker/local-ros2/OdomComm/comm-ws/build/gtest/CTestTestfile.cmake new file mode 100644 index 0000000..bd2bf4e --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/gtest/CTestTestfile.cmake @@ -0,0 +1,7 @@ +# CMake generated Testfile for +# Source directory: /usr/src/googletest +# Build directory: /root/comm-ws/build/gtest +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +subdirs("googlemock") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/gtest/Makefile b/docker/local-ros2/OdomComm/comm-ws/build/gtest/Makefile new file mode 100644 index 0000000..26d8cd8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/gtest/Makefile @@ -0,0 +1,196 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" at a time, but pass parallelism. +.NOTPARALLEL: + + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A 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+#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake new file mode 100644 index 0000000..7a84267 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake new file mode 100644 index 0000000..9141566 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in + +_prepend_path("${rosserial_msgs_DIR}/.." "msg" rosserial_msgs_MSG_INCLUDE_DIRS UNIQUE) +set(rosserial_msgs_MSG_DEPENDENCIES ) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc new file mode 100644 index 0000000..28316dc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc @@ -0,0 +1,8 @@ +prefix=/root/comm-ws/install + +Name: rosserial_msgs +Description: Description of rosserial_msgs +Version: 0.9.2 +Cflags: -I${prefix}/include +Libs: -L${prefix}/lib +Requires: message_runtime diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake new file mode 100644 index 0000000..742fb9a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.9.2") + +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/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake new file mode 100644 index 0000000..9c10c45 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(rosserial_msgs_CONFIG_INCLUDED) + return() +endif() +set(rosserial_msgs_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(rosserial_msgs_SOURCE_PREFIX /root/comm-ws/src/rosserial_msgs) + set(rosserial_msgs_DEVEL_PREFIX /root/comm-ws/devel) + set(rosserial_msgs_INSTALL_PREFIX "") + set(rosserial_msgs_PREFIX ${rosserial_msgs_DEVEL_PREFIX}) +else() + set(rosserial_msgs_SOURCE_PREFIX "") + set(rosserial_msgs_DEVEL_PREFIX "") + set(rosserial_msgs_INSTALL_PREFIX /root/comm-ws/install) + set(rosserial_msgs_PREFIX ${rosserial_msgs_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'rosserial_msgs' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(rosserial_msgs_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "include " STREQUAL " ") + set(rosserial_msgs_INCLUDE_DIRS "") + set(_include_dirs "include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/rosserial_msgs " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/rosserial_msgs' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Paul Bouchier , Mike Purvis ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${rosserial_msgs_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT rosserial_msgs_NUM_DUMMY_TARGETS) + set(rosserial_msgs_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR rosserial_msgs_NUM_DUMMY_TARGETS "${rosserial_msgs_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND rosserial_msgs_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND rosserial_msgs_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${lib_path}) + list(APPEND rosserial_msgs_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_msgs'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND rosserial_msgs_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(rosserial_msgs_EXPORTED_TARGETS "rosserial_msgs_generate_messages_cpp;rosserial_msgs_generate_messages_eus;rosserial_msgs_generate_messages_lisp;rosserial_msgs_generate_messages_nodejs;rosserial_msgs_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${rosserial_msgs_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 rosserial_msgs_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${rosserial_msgs_dep}_FOUND) + find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${${rosserial_msgs_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${rosserial_msgs_dep}_LIBRARIES}) + _list_append_deduplicate(rosserial_msgs_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) + + _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${${rosserial_msgs_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(rosserial_msgs_EXPORTED_TARGETS ${${rosserial_msgs_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "rosserial_msgs-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${rosserial_msgs_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/package.cmake new file mode 100644 index 0000000..fbd53d8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "rosserial_msgs") +set(rosserial_msgs_VERSION "0.9.2") +set(rosserial_msgs_MAINTAINER "Paul Bouchier , Mike Purvis ") +set(rosserial_msgs_PACKAGE_FORMAT "1") +set(rosserial_msgs_BUILD_DEPENDS "message_generation") +set(rosserial_msgs_BUILD_EXPORT_DEPENDS "message_runtime") +set(rosserial_msgs_BUILDTOOL_DEPENDS "catkin") +set(rosserial_msgs_BUILDTOOL_EXPORT_DEPENDS ) +set(rosserial_msgs_EXEC_DEPENDS "message_runtime") +set(rosserial_msgs_RUN_DEPENDS "message_runtime") +set(rosserial_msgs_TEST_DEPENDS ) +set(rosserial_msgs_DOC_DEPENDS ) +set(rosserial_msgs_URL_WEBSITE "http://ros.org/wiki/rosserial_msgs") +set(rosserial_msgs_URL_BUGTRACKER "") +set(rosserial_msgs_URL_REPOSITORY "") +set(rosserial_msgs_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..c365aea --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/devel/include".split(';') if "/root/comm-ws/devel/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "rosserial_msgs" +PROJECT_SPACE_DIR = "/root/comm-ws/devel" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..1ac1417 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "rosserial_msgs" +PROJECT_SPACE_DIR = "/root/comm-ws/install" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in new file mode 100644 index 0000000..fbd748a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "/root/comm-ws/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in new file mode 100644 index 0000000..7a84267 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp new file mode 100644 index 0000000..9f8ac6d --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp @@ -0,0 +1,18 @@ + + rosserial_msgs + 0.9.2 + + Messages for automatic topic configuration using rosserial. + + Michael Ferguson + Paul Bouchier + Mike Purvis + BSD + http://ros.org/wiki/rosserial_msgs + + catkin + + message_generation + + message_runtime + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp new file mode 100644 index 0000000..eca9adc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp @@ -0,0 +1,167 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +@{ +import os +import sys + +import genmsg +import genmsg.base +genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) +import genmsg.deps +import genmsg.gentools + +# split incoming variables +messages = messages_str.split(';') if messages_str != '' else [] +services = services_str.split(';') if services_str != '' else [] +dependencies = dependencies_str.split(';') if dependencies_str != '' else [] +dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] + +dep_search_paths_dict = {} +dep_search_paths_tuple_list = [] +is_even = True +for val in dep_search_paths: + if is_even: + dep_search_paths_dict.setdefault(val, []) + val_prev = val + is_even = False + else: + dep_search_paths_dict[val_prev].append(val) + dep_search_paths_tuple_list.append((val_prev, val)) + is_even = True +dep_search_paths = dep_search_paths_dict + +if not messages and not services: + print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') + +msg_deps = {} +msg_dep_types = {} +for m in messages: + try: + _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) + msg_deps[m] = [d[1] for d in _deps] + msg_dep_types[m] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) + +srv_deps = {} +srv_dep_types = {} +for s in services: + try: + _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) + srv_deps[s] = [d[1] for d in _deps] + srv_dep_types[s] = [d[0] for d in _deps] + except genmsg.MsgNotFound as e: + print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) + +}@ +message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") + +set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") + +# Find all generators +@[if langs]@ +@[for l in langs.split(';')]@ +find_package(@l REQUIRED) +@[end for]@ +@[end if]@ + +add_custom_target(@(pkg_name)_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure +@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} +@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} +@[for f in all_deps.keys()]@ +@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} +get_filename_component(_filename "@(f)" NAME_WE) +add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" +) +@[end for]@# messages and services + +# +# langs = @langs +# + +@[if langs]@ +@[for l in langs.split(';')]@ +### Section generating for lang: @l +### Generating Messages +@[for m in msg_deps.keys()]@ +_generate_msg_@(l[3:])(@pkg_name + "@m" + "${MSG_I_FLAGS}" + "@(';'.join(msg_deps[m]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# messages + +### Generating Services +@[for s in srv_deps.keys()]@ +_generate_srv_@(l[3:])(@pkg_name + "@s" + "${MSG_I_FLAGS}" + "@(';'.join(srv_deps[s]).replace("\\","/"))" + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name +) +@[end for]@# services + +### Generating Module File +_generate_module_@(l[3:])(@pkg_name + ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" +) + +add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) + DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} +) +add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) + +# add dependencies to all check dependencies targets +@[for f in all_deps.keys()]@ +get_filename_component(_filename "@(f)" NAME_WE) +add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) +@[end for]@# messages and services + +# target for backward compatibility +add_custom_target(@(pkg_name)_@(l)) +add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) + +@[end for]@# langs +@[end if]@ + +@[if langs]@ +@[for l in langs.split(';')]@ + +if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) +@[if l == 'genpy']@ + install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") +@[end if]@ + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} +@[if l == 'genpy' and package_has_static_sources]@ + # skip all init files + PATTERN "__init__.py" EXCLUDE + PATTERN "__init__.pyc" EXCLUDE + ) + # install init files which are not in the root folder of the generated code + string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)") + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name + DESTINATION ${@(l)_INSTALL_DIR} + FILES_MATCHING + REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$" +@[end if]@ + ) +endif() +@[for d in dependencies]@ +if(TARGET @(d)_generate_messages_@(l[3:])) + add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) +endif() +@[end for]@# dependencies +@[end for]@# langs +@[end if]@ diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py new file mode 100644 index 0000000..005aa47 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py @@ -0,0 +1,11 @@ +# generated from genmsg/cmake/pkg-genmsg.context.in + +messages_str = "/root/comm-ws/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" +services_str = "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" +pkg_name = "rosserial_msgs" +dependencies_str = "" +langs = "gencpp;geneus;genlisp;gennodejs;genpy" +dep_include_paths_str = "rosserial_msgs;/root/comm-ws/src/rosserial_msgs/msg" +PYTHON_EXECUTABLE = "/usr/bin/python3" +package_has_static_sources = '' == 'TRUE' +genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake new file mode 100644 index 0000000..a018f55 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake @@ -0,0 +1,325 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +message(STATUS "rosserial_msgs: 2 messages, 1 services") + +set(MSG_I_FLAGS "-Irosserial_msgs:/root/comm-ws/src/rosserial_msgs/msg") + +# Find all generators +find_package(gencpp REQUIRED) +find_package(geneus REQUIRED) +find_package(genlisp REQUIRED) +find_package(gennodejs REQUIRED) +find_package(genpy REQUIRED) + +add_custom_target(rosserial_msgs_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure + + + +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" "" +) + +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" "" +) + +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" "" +) + +# +# langs = gencpp;geneus;genlisp;gennodejs;genpy +# + +### Section generating for lang: gencpp +### Generating Messages +_generate_msg_cpp(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_cpp(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_cpp(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_cpp(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_cpp}" +) + +add_custom_target(rosserial_msgs_generate_messages_cpp + DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_cpp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_gencpp) +add_dependencies(rosserial_msgs_gencpp rosserial_msgs_generate_messages_cpp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_cpp) + +### Section generating for lang: geneus +### Generating Messages +_generate_msg_eus(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_eus(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_eus(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_eus(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_eus}" +) + +add_custom_target(rosserial_msgs_generate_messages_eus + DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_eus) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_geneus) +add_dependencies(rosserial_msgs_geneus rosserial_msgs_generate_messages_eus) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_eus) + +### Section generating for lang: genlisp +### Generating Messages +_generate_msg_lisp(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_lisp(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_lisp(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_lisp(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_lisp}" +) + +add_custom_target(rosserial_msgs_generate_messages_lisp + DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_lisp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_genlisp) +add_dependencies(rosserial_msgs_genlisp rosserial_msgs_generate_messages_lisp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_lisp) + +### Section generating for lang: gennodejs +### Generating Messages +_generate_msg_nodejs(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_nodejs(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_nodejs(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_nodejs(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_nodejs}" +) + +add_custom_target(rosserial_msgs_generate_messages_nodejs + DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_nodejs) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_nodejs _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_nodejs _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_nodejs _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_gennodejs) +add_dependencies(rosserial_msgs_gennodejs rosserial_msgs_generate_messages_nodejs) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_nodejs) + +### Section generating for lang: genpy +### Generating Messages +_generate_msg_py(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs +) +_generate_msg_py(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs +) + +### Generating Services +_generate_srv_py(rosserial_msgs + "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs +) + +### Generating Module File +_generate_module_py(rosserial_msgs + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs + "${ALL_GEN_OUTPUT_FILES_py}" +) + +add_custom_target(rosserial_msgs_generate_messages_py + DEPENDS ${ALL_GEN_OUTPUT_FILES_py} +) +add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_py) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_py _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_py _rosserial_msgs_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) +add_dependencies(rosserial_msgs_generate_messages_py _rosserial_msgs_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(rosserial_msgs_genpy) +add_dependencies(rosserial_msgs_genpy rosserial_msgs_generate_messages_py) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_py) + + + +if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs + DESTINATION ${gencpp_INSTALL_DIR} + ) +endif() + +if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs + DESTINATION ${geneus_INSTALL_DIR} + ) +endif() + +if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs + DESTINATION ${genlisp_INSTALL_DIR} + ) +endif() + +if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs + DESTINATION ${gennodejs_INSTALL_DIR} + ) +endif() + +if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs) + install(CODE "execute_process(COMMAND \"/usr/bin/python3\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs\")") + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs + DESTINATION ${genpy_INSTALL_DIR} + ) +endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake_install.cmake new file mode 100644 index 0000000..433a5fa --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake_install.cmake @@ -0,0 +1,97 @@ +# Install script for directory: /root/comm-ws/src/rosserial_msgs + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_msgs/msg" TYPE FILE FILES + "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" + "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_msgs/srv" TYPE FILE FILES "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_msgs/cmake" TYPE FILE FILES "/root/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/root/comm-ws/devel/include/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/root/comm-ws/devel/share/roseus/ros/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/root/comm-ws/devel/share/common-lisp/ros/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/root/comm-ws/devel/share/gennodejs/ros/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + execute_process(COMMAND "/usr/bin/python3" -m compileall "/root/comm-ws/devel/lib/python3/dist-packages/rosserial_msgs") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages" TYPE DIRECTORY FILES 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z&u)J1A79RVsZU~kX~Bs^sqaF1)W0R1U->YjcltLTSet$G' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${rosserial_server_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(rosserial_server_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "rosserial_server_lookup") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT rosserial_server_NUM_DUMMY_TARGETS) + set(rosserial_server_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR rosserial_server_NUM_DUMMY_TARGETS "${rosserial_server_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND rosserial_server_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND rosserial_server_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(rosserial_server_LIBRARY_DIRS ${lib_path}) + list(APPEND rosserial_server_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_server'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND rosserial_server_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(rosserial_server_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${rosserial_server_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;rosserial_msgs;std_msgs;topic_tools") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 rosserial_server_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${rosserial_server_dep}_FOUND) + find_package(${rosserial_server_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${rosserial_server_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(rosserial_server_INCLUDE_DIRS ${${rosserial_server_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${rosserial_server_dep}_LIBRARIES}) + _list_append_deduplicate(rosserial_server_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) + + _list_append_unique(rosserial_server_LIBRARY_DIRS ${${rosserial_server_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(rosserial_server_EXPORTED_TARGETS ${${rosserial_server_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${rosserial_server_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..454cf03 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/package.cmake new file mode 100644 index 0000000..466cc42 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "rosserial_server") +set(rosserial_server_VERSION "0.9.2") +set(rosserial_server_MAINTAINER "Mike Purvis ") +set(rosserial_server_PACKAGE_FORMAT "2") +set(rosserial_server_BUILD_DEPENDS "python3-dev" "libboost-thread-dev" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_BUILD_EXPORT_DEPENDS "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_BUILDTOOL_DEPENDS "catkin") +set(rosserial_server_BUILDTOOL_EXPORT_DEPENDS ) +set(rosserial_server_EXEC_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_RUN_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") +set(rosserial_server_TEST_DEPENDS ) +set(rosserial_server_DOC_DEPENDS ) +set(rosserial_server_URL_WEBSITE "") +set(rosserial_server_URL_BUGTRACKER "") +set(rosserial_server_URL_REPOSITORY "") +set(rosserial_server_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..8ebb1a1 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/src/rosserial_server/include".split(';') if "/root/comm-ws/src/rosserial_server/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] +PROJECT_NAME = "rosserial_server" +PROJECT_SPACE_DIR = "/root/comm-ws/devel" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..497c07f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] +PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] +PROJECT_NAME = "rosserial_server" +PROJECT_SPACE_DIR = "/root/comm-ws/install" +PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp new file mode 100644 index 0000000..df73c39 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp @@ -0,0 +1,23 @@ + + + rosserial_server + 0.9.2 + + A more performance- and stability-oriented server alternative implemented + in C++ to rosserial_python. + + + Mike Purvis + Mike Purvis + + BSD + + catkin + rosserial_msgs + std_msgs + roscpp + topic_tools + python3-dev + libboost-thread-dev + libboost-thread + diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/cmake_install.cmake new file mode 100644 index 0000000..0eaec12 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/cmake_install.cmake @@ -0,0 +1,141 @@ +# Install script for directory: /root/comm-ws/src/rosserial_server + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/root/comm-ws/build/rosserial_server/catkin_generated/installspace/rosserial_server.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_server/cmake" TYPE FILE FILES + "/root/comm-ws/build/rosserial_server/catkin_generated/installspace/rosserial_serverConfig.cmake" + "/root/comm-ws/build/rosserial_server/catkin_generated/installspace/rosserial_serverConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_server" TYPE FILE FILES "/root/comm-ws/src/rosserial_server/package.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/root/comm-ws/devel/lib/librosserial_server_lookup.so") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rosserial_server" TYPE EXECUTABLE FILES "/root/comm-ws/devel/lib/rosserial_server/serial_node") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" + OLD_RPATH "/opt/ros/noetic/lib:/root/comm-ws/devel/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rosserial_server" TYPE EXECUTABLE FILES "/root/comm-ws/devel/lib/rosserial_server/socket_node") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" + OLD_RPATH "/opt/ros/noetic/lib:/root/comm-ws/devel/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rosserial_server" TYPE EXECUTABLE FILES "/root/comm-ws/devel/lib/rosserial_server/udp_socket_node") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" + OLD_RPATH "/opt/ros/noetic/lib:/root/comm-ws/devel/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_server" TYPE DIRECTORY FILES "/root/comm-ws/src/rosserial_server/launch") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/rosserial_server" TYPE DIRECTORY FILES "/root/comm-ws/src/rosserial_server/include/rosserial_server/") +endif() + diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/.built_by b/docker/local-ros2/OdomComm/comm-ws/devel/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/.catkin b/docker/local-ros2/OdomComm/comm-ws/devel/.catkin new file mode 100644 index 0000000..1371c67 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/.catkin @@ -0,0 +1 @@ +/root/comm-ws/src \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/.rosinstall b/docker/local-ros2/OdomComm/comm-ws/devel/.rosinstall new file mode 100644 index 0000000..8600f9f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /root/comm-ws/devel/setup.sh diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/_setup_util.py b/docker/local-ros2/OdomComm/comm-ws/devel/_setup_util.py new file mode 100755 index 0000000..c8d8434 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python3/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/cmake.lock b/docker/local-ros2/OdomComm/comm-ws/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/env.sh b/docker/local-ros2/OdomComm/comm-ws/devel/env.sh new file mode 100644 index 0000000..8aa9d24 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/Log.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/Log.h new file mode 100644 index 0000000..10b8d87 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/Log.h @@ -0,0 +1,247 @@ +// Generated by gencpp from file rosserial_msgs/Log.msg +// DO NOT EDIT! + + +#ifndef ROSSERIAL_MSGS_MESSAGE_LOG_H +#define ROSSERIAL_MSGS_MESSAGE_LOG_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace rosserial_msgs +{ +template +struct Log_ +{ + typedef Log_ Type; + + Log_() + : level(0) + , msg() { + } + Log_(const ContainerAllocator& _alloc) + : level(0) + , msg(_alloc) { + (void)_alloc; + } + + + + typedef uint8_t _level_type; + _level_type level; + + typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _msg_type; + _msg_type msg; + + + +// reducing the odds to have name collisions with Windows.h +#if defined(_WIN32) && defined(ROSDEBUG) + #undef ROSDEBUG +#endif +#if defined(_WIN32) && defined(INFO) + #undef INFO +#endif +#if defined(_WIN32) && defined(WARN) + #undef WARN +#endif +#if defined(_WIN32) && defined(ERROR) + #undef ERROR +#endif +#if defined(_WIN32) && defined(FATAL) + #undef FATAL +#endif + + enum { + ROSDEBUG = 0u, + INFO = 1u, + WARN = 2u, + ERROR = 3u, + FATAL = 4u, + }; + + + typedef boost::shared_ptr< ::rosserial_msgs::Log_ > Ptr; + typedef boost::shared_ptr< ::rosserial_msgs::Log_ const> ConstPtr; + +}; // struct Log_ + +typedef ::rosserial_msgs::Log_ > Log; + +typedef boost::shared_ptr< ::rosserial_msgs::Log > LogPtr; +typedef boost::shared_ptr< ::rosserial_msgs::Log const> LogConstPtr; + +// constants requiring out of line definition + + + + + + + + + + + + + +template +std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::Log_ & v) +{ +ros::message_operations::Printer< ::rosserial_msgs::Log_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::rosserial_msgs::Log_ & lhs, const ::rosserial_msgs::Log_ & rhs) +{ + return lhs.level == rhs.level && + lhs.msg == rhs.msg; +} + +template +bool operator!=(const ::rosserial_msgs::Log_ & lhs, const ::rosserial_msgs::Log_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace rosserial_msgs + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsMessage< ::rosserial_msgs::Log_ > + : TrueType + { }; + +template +struct IsMessage< ::rosserial_msgs::Log_ const> + : TrueType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::Log_ > + : FalseType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::Log_ const> + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::Log_ > + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::Log_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::rosserial_msgs::Log_ > +{ + static const char* value() + { + return "11abd731c25933261cd6183bd12d6295"; + } + + static const char* value(const ::rosserial_msgs::Log_&) { return value(); } + static const uint64_t static_value1 = 0x11abd731c2593326ULL; + static const uint64_t static_value2 = 0x1cd6183bd12d6295ULL; +}; + +template +struct DataType< ::rosserial_msgs::Log_ > +{ + static const char* value() + { + return "rosserial_msgs/Log"; + } + + static const char* value(const ::rosserial_msgs::Log_&) { return value(); } +}; + +template +struct Definition< ::rosserial_msgs::Log_ > +{ + static const char* value() + { + return "\n" +"#ROS Logging Levels\n" +"uint8 ROSDEBUG=0\n" +"uint8 INFO=1\n" +"uint8 WARN=2\n" +"uint8 ERROR=3\n" +"uint8 FATAL=4\n" +"\n" +"uint8 level\n" +"string msg\n" +; + } + + static const char* value(const ::rosserial_msgs::Log_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::rosserial_msgs::Log_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.level); + stream.next(m.msg); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct Log_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::rosserial_msgs::Log_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::Log_& v) + { + s << indent << "level: "; + Printer::stream(s, indent + " ", v.level); + s << indent << "msg: "; + Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.msg); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // ROSSERIAL_MSGS_MESSAGE_LOG_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParam.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParam.h new file mode 100644 index 0000000..9f8ec83 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParam.h @@ -0,0 +1,123 @@ +// Generated by gencpp from file rosserial_msgs/RequestParam.msg +// DO NOT EDIT! + + +#ifndef ROSSERIAL_MSGS_MESSAGE_REQUESTPARAM_H +#define ROSSERIAL_MSGS_MESSAGE_REQUESTPARAM_H + +#include + + +#include +#include + + +namespace rosserial_msgs +{ + +struct RequestParam +{ + +typedef RequestParamRequest Request; +typedef RequestParamResponse Response; +Request request; +Response response; + +typedef Request RequestType; +typedef Response ResponseType; + +}; // struct RequestParam +} // namespace rosserial_msgs + + +namespace ros +{ +namespace service_traits +{ + + +template<> +struct MD5Sum< ::rosserial_msgs::RequestParam > { + static const char* value() + { + return "d7a0c2be00c9fd03cc69f2863de9c4d9"; + } + + static const char* value(const ::rosserial_msgs::RequestParam&) { return value(); } +}; + +template<> +struct DataType< ::rosserial_msgs::RequestParam > { + static const char* value() + { + return "rosserial_msgs/RequestParam"; + } + + static const char* value(const ::rosserial_msgs::RequestParam&) { return value(); } +}; + + +// service_traits::MD5Sum< ::rosserial_msgs::RequestParamRequest> should match +// service_traits::MD5Sum< ::rosserial_msgs::RequestParam > +template<> +struct MD5Sum< ::rosserial_msgs::RequestParamRequest> +{ + static const char* value() + { + return MD5Sum< ::rosserial_msgs::RequestParam >::value(); + } + static const char* value(const ::rosserial_msgs::RequestParamRequest&) + { + return value(); + } +}; + +// service_traits::DataType< ::rosserial_msgs::RequestParamRequest> should match +// service_traits::DataType< ::rosserial_msgs::RequestParam > +template<> +struct DataType< ::rosserial_msgs::RequestParamRequest> +{ + static const char* value() + { + return DataType< ::rosserial_msgs::RequestParam >::value(); + } + static const char* value(const ::rosserial_msgs::RequestParamRequest&) + { + return value(); + } +}; + +// service_traits::MD5Sum< ::rosserial_msgs::RequestParamResponse> should match +// service_traits::MD5Sum< ::rosserial_msgs::RequestParam > +template<> +struct MD5Sum< ::rosserial_msgs::RequestParamResponse> +{ + static const char* value() + { + return MD5Sum< ::rosserial_msgs::RequestParam >::value(); + } + static const char* value(const ::rosserial_msgs::RequestParamResponse&) + { + return value(); + } +}; + +// service_traits::DataType< ::rosserial_msgs::RequestParamResponse> should match +// service_traits::DataType< ::rosserial_msgs::RequestParam > +template<> +struct DataType< ::rosserial_msgs::RequestParamResponse> +{ + static const char* value() + { + return DataType< ::rosserial_msgs::RequestParam >::value(); + } + static const char* value(const ::rosserial_msgs::RequestParamResponse&) + { + return value(); + } +}; + +} // namespace service_traits +} // namespace ros + +#endif // ROSSERIAL_MSGS_MESSAGE_REQUESTPARAM_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamRequest.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamRequest.h new file mode 100644 index 0000000..d89f3ff --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamRequest.h @@ -0,0 +1,196 @@ +// Generated by gencpp from file rosserial_msgs/RequestParamRequest.msg +// DO NOT EDIT! + + +#ifndef ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMREQUEST_H +#define ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMREQUEST_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace rosserial_msgs +{ +template +struct RequestParamRequest_ +{ + typedef RequestParamRequest_ Type; + + RequestParamRequest_() + : name() { + } + RequestParamRequest_(const ContainerAllocator& _alloc) + : name(_alloc) { + (void)_alloc; + } + + + + typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _name_type; + _name_type name; + + + + + + typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest_ > Ptr; + typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest_ const> ConstPtr; + +}; // struct RequestParamRequest_ + +typedef ::rosserial_msgs::RequestParamRequest_ > RequestParamRequest; + +typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest > RequestParamRequestPtr; +typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest const> RequestParamRequestConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::RequestParamRequest_ & v) +{ +ros::message_operations::Printer< ::rosserial_msgs::RequestParamRequest_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::rosserial_msgs::RequestParamRequest_ & lhs, const ::rosserial_msgs::RequestParamRequest_ & rhs) +{ + return lhs.name == rhs.name; +} + +template +bool operator!=(const ::rosserial_msgs::RequestParamRequest_ & lhs, const ::rosserial_msgs::RequestParamRequest_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace rosserial_msgs + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsMessage< ::rosserial_msgs::RequestParamRequest_ > + : TrueType + { }; + +template +struct IsMessage< ::rosserial_msgs::RequestParamRequest_ const> + : TrueType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::RequestParamRequest_ > + : FalseType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::RequestParamRequest_ const> + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::RequestParamRequest_ > + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::RequestParamRequest_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::rosserial_msgs::RequestParamRequest_ > +{ + static const char* value() + { + return "c1f3d28f1b044c871e6eff2e9fc3c667"; + } + + static const char* value(const ::rosserial_msgs::RequestParamRequest_&) { return value(); } + static const uint64_t static_value1 = 0xc1f3d28f1b044c87ULL; + static const uint64_t static_value2 = 0x1e6eff2e9fc3c667ULL; +}; + +template +struct DataType< ::rosserial_msgs::RequestParamRequest_ > +{ + static const char* value() + { + return "rosserial_msgs/RequestParamRequest"; + } + + static const char* value(const ::rosserial_msgs::RequestParamRequest_&) { return value(); } +}; + +template +struct Definition< ::rosserial_msgs::RequestParamRequest_ > +{ + static const char* value() + { + return "string name\n" +"\n" +; + } + + static const char* value(const ::rosserial_msgs::RequestParamRequest_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::rosserial_msgs::RequestParamRequest_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.name); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct RequestParamRequest_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::rosserial_msgs::RequestParamRequest_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::RequestParamRequest_& v) + { + s << indent << "name: "; + Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.name); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMREQUEST_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamResponse.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamResponse.h new file mode 100644 index 0000000..11f796b --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamResponse.h @@ -0,0 +1,229 @@ +// Generated by gencpp from file rosserial_msgs/RequestParamResponse.msg +// DO NOT EDIT! + + +#ifndef ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMRESPONSE_H +#define ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMRESPONSE_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace rosserial_msgs +{ +template +struct RequestParamResponse_ +{ + typedef RequestParamResponse_ Type; + + RequestParamResponse_() + : ints() + , floats() + , strings() { + } + RequestParamResponse_(const ContainerAllocator& _alloc) + : ints(_alloc) + , floats(_alloc) + , strings(_alloc) { + (void)_alloc; + } + + + + typedef std::vector::template rebind_alloc> _ints_type; + _ints_type ints; + + typedef std::vector::template rebind_alloc> _floats_type; + _floats_type floats; + + typedef std::vector, typename std::allocator_traits::template rebind_alloc>, typename std::allocator_traits::template rebind_alloc, typename std::allocator_traits::template rebind_alloc>>> _strings_type; + _strings_type strings; + + + + + + typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse_ > Ptr; + typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse_ const> ConstPtr; + +}; // struct RequestParamResponse_ + +typedef ::rosserial_msgs::RequestParamResponse_ > RequestParamResponse; + +typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse > RequestParamResponsePtr; +typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse const> RequestParamResponseConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::RequestParamResponse_ & v) +{ +ros::message_operations::Printer< ::rosserial_msgs::RequestParamResponse_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::rosserial_msgs::RequestParamResponse_ & lhs, const ::rosserial_msgs::RequestParamResponse_ & rhs) +{ + return lhs.ints == rhs.ints && + lhs.floats == rhs.floats && + lhs.strings == rhs.strings; +} + +template +bool operator!=(const ::rosserial_msgs::RequestParamResponse_ & lhs, const ::rosserial_msgs::RequestParamResponse_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace rosserial_msgs + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsMessage< ::rosserial_msgs::RequestParamResponse_ > + : TrueType + { }; + +template +struct IsMessage< ::rosserial_msgs::RequestParamResponse_ const> + : TrueType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::RequestParamResponse_ > + : FalseType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::RequestParamResponse_ const> + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::RequestParamResponse_ > + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::RequestParamResponse_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::rosserial_msgs::RequestParamResponse_ > +{ + static const char* value() + { + return "9f0e98bda65981986ddf53afa7a40e49"; + } + + static const char* value(const ::rosserial_msgs::RequestParamResponse_&) { return value(); } + static const uint64_t static_value1 = 0x9f0e98bda6598198ULL; + static const uint64_t static_value2 = 0x6ddf53afa7a40e49ULL; +}; + +template +struct DataType< ::rosserial_msgs::RequestParamResponse_ > +{ + static const char* value() + { + return "rosserial_msgs/RequestParamResponse"; + } + + static const char* value(const ::rosserial_msgs::RequestParamResponse_&) { return value(); } +}; + +template +struct Definition< ::rosserial_msgs::RequestParamResponse_ > +{ + static const char* value() + { + return "\n" +"int32[] ints\n" +"float32[] floats\n" +"string[] strings\n" +"\n" +; + } + + static const char* value(const ::rosserial_msgs::RequestParamResponse_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::rosserial_msgs::RequestParamResponse_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.ints); + stream.next(m.floats); + stream.next(m.strings); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct RequestParamResponse_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::rosserial_msgs::RequestParamResponse_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::RequestParamResponse_& v) + { + s << indent << "ints[]" << std::endl; + for (size_t i = 0; i < v.ints.size(); ++i) + { + s << indent << " ints[" << i << "]: "; + Printer::stream(s, indent + " ", v.ints[i]); + } + s << indent << "floats[]" << std::endl; + for (size_t i = 0; i < v.floats.size(); ++i) + { + s << indent << " floats[" << i << "]: "; + Printer::stream(s, indent + " ", v.floats[i]); + } + s << indent << "strings[]" << std::endl; + for (size_t i = 0; i < v.strings.size(); ++i) + { + s << indent << " strings[" << i << "]: "; + Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.strings[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMRESPONSE_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/TopicInfo.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/TopicInfo.h new file mode 100644 index 0000000..bf9f766 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/TopicInfo.h @@ -0,0 +1,303 @@ +// Generated by gencpp from file rosserial_msgs/TopicInfo.msg +// DO NOT EDIT! + + +#ifndef ROSSERIAL_MSGS_MESSAGE_TOPICINFO_H +#define ROSSERIAL_MSGS_MESSAGE_TOPICINFO_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace rosserial_msgs +{ +template +struct TopicInfo_ +{ + typedef TopicInfo_ Type; + + TopicInfo_() + : topic_id(0) + , topic_name() + , message_type() + , md5sum() + , buffer_size(0) { + } + TopicInfo_(const ContainerAllocator& _alloc) + : topic_id(0) + , topic_name(_alloc) + , message_type(_alloc) + , md5sum(_alloc) + , buffer_size(0) { + (void)_alloc; + } + + + + typedef uint16_t _topic_id_type; + _topic_id_type topic_id; + + typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _topic_name_type; + _topic_name_type topic_name; + + typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _message_type_type; + _message_type_type message_type; + + typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _md5sum_type; + _md5sum_type md5sum; + + typedef int32_t _buffer_size_type; + _buffer_size_type buffer_size; + + + +// reducing the odds to have name collisions with Windows.h +#if defined(_WIN32) && defined(ID_PUBLISHER) + #undef ID_PUBLISHER +#endif +#if defined(_WIN32) && defined(ID_SUBSCRIBER) + #undef ID_SUBSCRIBER +#endif +#if defined(_WIN32) && defined(ID_SERVICE_SERVER) + #undef ID_SERVICE_SERVER +#endif +#if defined(_WIN32) && defined(ID_SERVICE_CLIENT) + #undef ID_SERVICE_CLIENT +#endif +#if defined(_WIN32) && defined(ID_PARAMETER_REQUEST) + #undef ID_PARAMETER_REQUEST +#endif +#if defined(_WIN32) && defined(ID_LOG) + #undef ID_LOG +#endif +#if defined(_WIN32) && defined(ID_TIME) + #undef ID_TIME +#endif +#if defined(_WIN32) && defined(ID_TX_STOP) + #undef ID_TX_STOP +#endif + + enum { + ID_PUBLISHER = 0u, + ID_SUBSCRIBER = 1u, + ID_SERVICE_SERVER = 2u, + ID_SERVICE_CLIENT = 4u, + ID_PARAMETER_REQUEST = 6u, + ID_LOG = 7u, + ID_TIME = 10u, + ID_TX_STOP = 11u, + }; + + + typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo_ > Ptr; + typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo_ const> ConstPtr; + +}; // struct TopicInfo_ + +typedef ::rosserial_msgs::TopicInfo_ > TopicInfo; + +typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo > TopicInfoPtr; +typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo const> TopicInfoConstPtr; + +// constants requiring out of line definition + + + + + + + + + + + + + + + + + + + +template +std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::TopicInfo_ & v) +{ +ros::message_operations::Printer< ::rosserial_msgs::TopicInfo_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::rosserial_msgs::TopicInfo_ & lhs, const ::rosserial_msgs::TopicInfo_ & rhs) +{ + return lhs.topic_id == rhs.topic_id && + lhs.topic_name == rhs.topic_name && + lhs.message_type == rhs.message_type && + lhs.md5sum == rhs.md5sum && + lhs.buffer_size == rhs.buffer_size; +} + +template +bool operator!=(const ::rosserial_msgs::TopicInfo_ & lhs, const ::rosserial_msgs::TopicInfo_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace rosserial_msgs + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsMessage< ::rosserial_msgs::TopicInfo_ > + : TrueType + { }; + +template +struct IsMessage< ::rosserial_msgs::TopicInfo_ const> + : TrueType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::TopicInfo_ > + : FalseType + { }; + +template +struct IsFixedSize< ::rosserial_msgs::TopicInfo_ const> + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::TopicInfo_ > + : FalseType + { }; + +template +struct HasHeader< ::rosserial_msgs::TopicInfo_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::rosserial_msgs::TopicInfo_ > +{ + static const char* value() + { + return "0ad51f88fc44892f8c10684077646005"; + } + + static const char* value(const ::rosserial_msgs::TopicInfo_&) { return value(); } + static const uint64_t static_value1 = 0x0ad51f88fc44892fULL; + static const uint64_t static_value2 = 0x8c10684077646005ULL; +}; + +template +struct DataType< ::rosserial_msgs::TopicInfo_ > +{ + static const char* value() + { + return "rosserial_msgs/TopicInfo"; + } + + static const char* value(const ::rosserial_msgs::TopicInfo_&) { return value(); } +}; + +template +struct Definition< ::rosserial_msgs::TopicInfo_ > +{ + static const char* value() + { + return "# special topic_ids\n" +"uint16 ID_PUBLISHER=0\n" +"uint16 ID_SUBSCRIBER=1\n" +"uint16 ID_SERVICE_SERVER=2\n" +"uint16 ID_SERVICE_CLIENT=4\n" +"uint16 ID_PARAMETER_REQUEST=6\n" +"uint16 ID_LOG=7\n" +"uint16 ID_TIME=10\n" +"uint16 ID_TX_STOP=11\n" +"\n" +"# The endpoint ID for this topic\n" +"uint16 topic_id\n" +"\n" +"string topic_name\n" +"string message_type\n" +"\n" +"# MD5 checksum for this message type\n" +"string md5sum\n" +"\n" +"# size of the buffer message must fit in\n" +"int32 buffer_size\n" +; + } + + static const char* value(const ::rosserial_msgs::TopicInfo_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::rosserial_msgs::TopicInfo_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.topic_id); + stream.next(m.topic_name); + stream.next(m.message_type); + stream.next(m.md5sum); + stream.next(m.buffer_size); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct TopicInfo_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::rosserial_msgs::TopicInfo_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::TopicInfo_& v) + { + s << indent << "topic_id: "; + Printer::stream(s, indent + " ", v.topic_id); + s << indent << "topic_name: "; + Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.topic_name); + s << indent << "message_type: "; + Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.message_type); + s << indent << "md5sum: "; + Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.md5sum); + s << indent << "buffer_size: "; + Printer::stream(s, indent + " ", v.buffer_size); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // ROSSERIAL_MSGS_MESSAGE_TOPICINFO_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/lib/librosserial_server_lookup.so b/docker/local-ros2/OdomComm/comm-ws/devel/lib/librosserial_server_lookup.so new file mode 100644 index 0000000000000000000000000000000000000000..8e8f36d0abd1119ec5c829a533e288c6075fcb0f GIT binary patch literal 24112 zcmeHP4|H5rnZJ`{XlX(lmKF;L9STLtpJ~!IrLfDAw3&8d8ycEME5g1`Cevgj$qX}Z zXrid8X;@}MG`M!HifnaVMOd`1D6DHGP%z~P8U(cNS+s~8CktwffE5?Azwh4rz1(@3 z2X^4Nd-mk!Ouqa5zCZWg@7;IbyZ60!KOEY;p~UACoJz%C3*z>ltB_hPNWM#FKx)NW zQI7vh#930eY+5uUw_}lln2JipQyG5B2IwDBK>l~=*$WiU)U=c3RcU<}-KZA&-62N3PrtQYG9aBLHlr){II6>8*-yIrv(}31v>b5(q?cDTS zZO4?#pw#@F-BwI_P1>%qTKRF)8x<^=a(P$5j^gsCCVkk&R$ZRgaj4bpW=j2p5|v9n zsLyP?vW3DuLKq(|$}iMB$+te%a_2|S|JdQ-JC^J}xU=o4+n+k|NrfiL9 zqjPr;@Anb*4*ZtmcizvpJoM`y-nL|Q&sXLRonk+<@bT}T@v99l|L59&9l8GHyGO47 zhqFhn|IxCM>lc+D;BdeyKaI{2;xFpZ92&<>BWG9`*lQ zk2u6V${q9YAMn73Jlad=Kmb2?I^f~wX^-{-F6ieX5BwaQEQOBa&pg^ogF_+xU1-FCETQSz63vn`&KA`ef|gh5We7Ig%4@{<>*(0-==Z)^Qgvusqr6Z z{SV3b%omR?Q@}kaPbT2x=O_gPNf$4!@xXry9nwGG(*KAD-lFk7tsN+uQ0^|VP)1L6b@j^DNID)xg;VkF_J-)pf|?^JEwsK`S-y_%H`J&v zy7c-t_U)-ry{a>jxGs}yjHT0&_E>1^CPedin;&Yfu>_*r&>goCR((`99lxX1II3-- zXcsyP9bJMmHEp6;z7_7az?*bg zWb0~Vw@1Hj>TT#sCUC+k(wJz=(E0fmv{*Kl>-gpaNG<00(U_2bz|l*J>)Z&yme%*h zqPDd$X4lzvs#%T(fLprb(L`I!s!O+Q+pw16eEeO0O(dO;w|8?7E}|RO#JZApZ?QvH zq*)cM2Gvw7?__J~-h~s=+8Rq|x^T#8;ErBrMLVvuc1GfzG@SSJSjku_ouI+k?zL{H zDlQ80;54tMo?lc9lgStc4rdfN-T`b)L^(iTlyzvfS9c|Dh&602qB5b-7V3O!QZaI2 zrD8jAf$NUO8n#)X)pl<(7NUMyTtgA2Ejmg?bd=R;jLgOMlS@)Dd9@7DU{^#~IK((c zU7|DIn(VbZ65XqUYlG=TusT>pSlVujUU(q^Ylv-+VhECA;-U`jzJ6Qk5(c^0xPHC0 z3eGleZdkY8S{YpJf2RDSz*Xsj0Nw{Ndo*I-o#SDA2dB~2A^`-NW#=2In@n^BG^ zB|ma>6QwYPD;aK?Wl|D9=3s^XlnzNQ!lan*cbm@ZEf->rXw?&CAN*gY<#g|~FdjdN zW_0hqrj}6&_VSN|^NT)>J@M7+a0gu`ZqfYp$3BTBmWWS+r^M?8 zniWm@e(`Xlk~3bZ@v5uxapuRiD4ZgM0-bckz~?)t5JwICbOX;B_?ZSiVc=&O_%Q=t zYT#>iJ#kwr-e%y7n-oLGjAWbw27V5MpywMn^$ku{298^BC#^Mb)o+xj*1-8zoFrib z=YB+ZlY#RwAbh)lqa!$Jhk?&?P$4=D939O`NdvENP$7B@939U|eFlDkg9>r8fxpAR zhYkE(1K(%h3k-a}fma&%9R_aBuMQZv?wZo-J_F}D6$wTR{6fS3VFN$Kz{d=n)?YXs zG4S&k1U+itdTCHfa|V8@p+8~Ziw*pkfuCmJLicCtBWD=+Tmyf*fma&1o*GK&Vgp}d z=m!iuVBqH)_}KjJmQ&UsJlBWscMr-=~S@9;DMLi-(_Cgy0r!_!0v?RR*Z0HOU3PYVTT zzr)i+2<>-xngF5w4o?dRXureL!U5Xv@H7EJ`(Neu2PFTD!_$NZ$KT;;fdTDj9=#`q zxz&Ot^+NU^@Sk<@dtLmHiyv_DA9V2<7vJUL-Q{2FlDD|{Mi(D)@t3>!8W(@Di(lsA z&vfyNT>MEc-tXdH#bZM=o-euhU%B|_T>R56{wWv#n2Ued#UFI>-*EAFyZC>0@t<|^ zdtLkx^WmY(KZSgF$p3L7mmaehVW>I}OA|Cyoj7%L!ID1oHgQN(=*OjgO)HV*uZ6P{ z;Rk+wMfibZrD5N9!;imaFNA}aur@;u=1v{mDdWiYG@kWcz6`b^b74!k|MEL&6(^j1 z&aMa#Uj7=&%`Hd2&b481_^$s|@V;wd>y%IS^F`|viAr`TX?W++4-_npfN4xGa)NdqO%;r42RtpkFKXmE!0F zU{K^}?k>_B3hfUM4M~SXi-u(tzE8sMDB%c-p_Ye-8uy2@Qt~28pmoO|m8$?@*#SYG zhe9Ld;4u=BcjO*?VgxsmaKSj^-{>Rp~=`mBOOl=_Xu3#%8k{`*h>>a^ooC zLyKO;6iJp7I3!ZNQa2=-E92mPmG8C6B3O6Fulu9eZ! z?H|p3n*ubb8b4I?Jz0y<+`c~m%??yjOC90AY2gQya4`w{4-!GV?sVdHn-tT*?n9@N zXVp;6fVQ0?p^OItF|=s6gk^VIq$J!8dZs0RJSJ^89yh9XgB{H^u{-4JRbIwpE#(LO zr(s=H1z?5D$pBm}^dF?A3VRt^E6?(w?Ez$E`=OI1cj{<#OY6@{rNIFi z11NM%D>RY<`#X#M^^XLozGKkaGh)xVkM0Mb_uq&A0{rQw+EC3t+})A(R@n-t7ALDC z$7RylG0Z1DwCiP<)R+Ob2JCPcgJoNIl^VtQ+x9FQ&Z2+AzcOTr%F8yaQp{ZC>U_}Y_UrO+ly(&Wl=l49uA)xMQ`AM3xjAiK=T^ zaS3h4rF$*vg!*U3aP2yHMF#THl-n_O3WPGxj33VSK?+!&Es~O{7gYnNZw=nK zT_H4gG#8RSLq}DEMswd#H9JhQN2J%5qhTMF#Uc2*)Brlzs3Ri>z6zymM&>m5o)MWg z(o>Q7vMOu()J9~UQY|^o$b3vjWHh%+IyWQp-0$3x;SPB1A$jV`Ik7VfrjhLbcUqB2 zr&h$fqn(+y*b3*xgB1z+R!^`)G~pebSX-b=y#p7Zmox(EmA^n+B9;zxC+vVW4@3g# z&Pci=K<^tyqIhdDDD+#MLbP<#tBV0U5s1q-rW}u5@|~%Gp+GOXIpQchrUL?H1X$DB znd$7b>{yR2tgf~iyniFsORb%Wlw&6XZSgi)yJ(`@j>Nk~tS5;VmCzP#6o}w`rFd(` zjs?X$;X9-BFX>%(S^}v2&D7LB(5Bx`O^tx=06hZQfbLX@0qmooRiNJnJph`-HERO$ z{h&?Y$3T;yQ=mscZ^7LNUMUbi1`U9Ik?w;*X=2?0N{OGL`rf})_C^ls%pWfXq`yLo>!#i&& z?Jq0++zBX(bT;F+1mz5oeieesdZGT(k`GVUXAeYsptlKnj!wxssX%@x9$$t02cTug z3?1_Gz_g!7;pbgA_J#aV++KiuH{|m9JJ+Q_*+VR*rhGU1)?jgL(C5E-p7@gQf z7k&O`E5xlO{_jscYgo9<>Cu||L4oa*ZuyXa`BN9HbSRwj{n{Y@##7K&sT_h=JTN-Di`hcdJdF-le8Q^Bzj|ny*l-5CN4rN%ITk&Abr& z?j^q;&F@@lbHVQ{^Lx^C-%E+*FTFOEAbvv6N%&rJ7%QZda7!;!t$ukJk2_@gqIOWO z`Nf)QHB8zRz*C*D7A(|y+P(A6^J4uHEaT_XGhHOEC(Y|9VOd`$E)P!?Wc~N)$rct` zCC~N1bW8GUv>c0`d2;RUe~mcbvAb$e6;ME}rcIje&@`!OpQgi_?$`8yrX!k;X?j%C z2~EY>LZ(Vh1DaN8TB~W3raLrEYTBpiu%`PpJ)r4`rem5O)pSBre6*>`*EFDMm8P|t zHZgvc(&zv9n&Ps+`7N#Z*e(;eG`Kogb#Zk@a@8MNSrx2W9bCCw;cVeeOL4Z|Q8H6b z-&pWI0H(AQ-#74ilaH4PK40>2zu@yKA3s5G|IEkd2=3SU_*}u~M?QX{;PWUS$5|UN z5tT2+E)s!)c!k)Z<84}%ijzdLAU@yOuOeT6f#7i}AIHg9Wg;qHiZ7FS{{vH6iZ7Xm zt4)OUPZ77RDugd|z85j2rDBobaWEf0RTMf8OEEg}_agcF7=4;dMCD5{8uNE1rnD5J zaILG~lDstU4S8kZ11S@~ol@NNf4UBo;OfBpg0O_H7le<|!ibUR^dg+EODwts8J|%f zDv#0z{CoxC(*>OT@O6%KDfQy#!)g~_cO-~^`|vAN|1U}X>Eq7jJ_wxrzh@aTNFhbU zW1xiJu5r1x1i*;QEp&Tf+bT1^80L&HWw!D;jryPycp|cZK|{ z^1!|JhqxR1OSuvTeZ<4h+i-y{RPJAS;8_p+2@m}2vcmq?dEi%i;Iyd=#nT6m; 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Do not edit.""" +import codecs +import sys +python3 = True if sys.hexversion > 0x03000000 else False +import genpy +import struct + + +class Log(genpy.Message): + _md5sum = "11abd731c25933261cd6183bd12d6295" + _type = "rosserial_msgs/Log" + _has_header = False # flag to mark the presence of a Header object + _full_text = """ +#ROS Logging Levels +uint8 ROSDEBUG=0 +uint8 INFO=1 +uint8 WARN=2 +uint8 ERROR=3 +uint8 FATAL=4 + +uint8 level +string msg +""" + # Pseudo-constants + ROSDEBUG = 0 + INFO = 1 + WARN = 2 + ERROR = 3 + FATAL = 4 + + __slots__ = ['level','msg'] + _slot_types = ['uint8','string'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + level,msg + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(Log, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.level is None: + self.level = 0 + if self.msg is None: + self.msg = '' + else: + self.level = 0 + self.msg = '' + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self.level + buff.write(_get_struct_B().pack(_x)) + _x = self.msg + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.Struct(' 0x03000000 else False +import genpy +import struct + + +class TopicInfo(genpy.Message): + _md5sum = "0ad51f88fc44892f8c10684077646005" + _type = "rosserial_msgs/TopicInfo" + _has_header = False # flag to mark the presence of a Header object + _full_text = """# special topic_ids +uint16 ID_PUBLISHER=0 +uint16 ID_SUBSCRIBER=1 +uint16 ID_SERVICE_SERVER=2 +uint16 ID_SERVICE_CLIENT=4 +uint16 ID_PARAMETER_REQUEST=6 +uint16 ID_LOG=7 +uint16 ID_TIME=10 +uint16 ID_TX_STOP=11 + +# The endpoint ID for this topic +uint16 topic_id + +string topic_name +string message_type + +# MD5 checksum for this message type +string md5sum + +# size of the buffer message must fit in +int32 buffer_size +""" + # Pseudo-constants + ID_PUBLISHER = 0 + ID_SUBSCRIBER = 1 + ID_SERVICE_SERVER = 2 + ID_SERVICE_CLIENT = 4 + ID_PARAMETER_REQUEST = 6 + ID_LOG = 7 + ID_TIME = 10 + ID_TX_STOP = 11 + + __slots__ = ['topic_id','topic_name','message_type','md5sum','buffer_size'] + _slot_types = ['uint16','string','string','string','int32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + topic_id,topic_name,message_type,md5sum,buffer_size + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(TopicInfo, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.topic_id is None: + self.topic_id = 0 + if self.topic_name is None: + self.topic_name = '' + if self.message_type is None: + self.message_type = '' + if self.md5sum is None: + self.md5sum = '' + if self.buffer_size is None: + self.buffer_size = 0 + else: + self.topic_id = 0 + self.topic_name = '' + self.message_type = '' + self.md5sum = '' + self.buffer_size = 0 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self.topic_id + buff.write(_get_struct_H().pack(_x)) + _x = self.topic_name + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.Struct(' 0x03000000 else False +import genpy +import struct + + +class RequestParamRequest(genpy.Message): + _md5sum = "c1f3d28f1b044c871e6eff2e9fc3c667" + _type = "rosserial_msgs/RequestParamRequest" + _has_header = False # flag to mark the presence of a Header object + _full_text = """string name + +""" + __slots__ = ['name'] + _slot_types = ['string'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + name + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RequestParamRequest, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.name is None: + self.name = '' + else: + self.name = '' + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self.name + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.Struct(' 0x03000000 else False +import genpy +import struct + + +class RequestParamResponse(genpy.Message): + _md5sum = "9f0e98bda65981986ddf53afa7a40e49" + _type = "rosserial_msgs/RequestParamResponse" + _has_header = False # flag to mark the presence of a Header object + _full_text = """ +int32[] ints +float32[] floats +string[] strings + +""" + __slots__ = ['ints','floats','strings'] + _slot_types = ['int32[]','float32[]','string[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + ints,floats,strings + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RequestParamResponse, self).__init__(*args, **kwds) + # message fields cannot be None, assign default values for those that are + if self.ints is None: + self.ints = [] + if self.floats is None: + self.floats = [] + if self.strings is None: + self.strings = [] + else: + self.ints = [] + self.floats = [] + self.strings = [] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + length = len(self.ints) + buff.write(_struct_I.pack(length)) + pattern = '<%si'%length + buff.write(struct.Struct(pattern).pack(*self.ints)) + length = len(self.floats) + buff.write(_struct_I.pack(length)) + pattern = '<%sf'%length + buff.write(struct.Struct(pattern).pack(*self.floats)) + length = len(self.strings) + buff.write(_struct_I.pack(length)) + for val1 in self.strings: + length = len(val1) + if python3 or type(val1) == unicode: + val1 = val1.encode('utf-8') + length = len(val1) + buff.write(struct.Struct('vH;uX)0=SCMb9;?xHHM+YRuQlEguc)a1r@Ee}r}~-hT*Tk|zW>j!wVBj+ zo_Xr2r=B{xs(a?5jD;sB^y}AO!=t};lGacBeU1LF=0on9egOWZ0rP6Z;ol>*v05U~ z0dV^8UHOXB)w`*DJkec@n-}zvDfkU zORe;(eolYKCrSzjdkvkJpksPfKPNuXv|EY-PRDs5^};mY*1sYUryiV90As-{$V)2F1T9a~;{Y>NH?VVB55#Nyn=r)p50je?>3 zb)SyHw0Pg;y1ww4Q8RDb_|?y8&wP35hDolb*GY%SQ^<%zd>%tXPY;4OAA`Sqa1MoY zMWV~0)wmMIY`yrX#_HV@Yoh%Uz{v@|x`gEFfddkp+AV{lgVq4*rwz^UMK^1H_*8U~ zYe-SX0UHM%HSp|ygEnc7zik{lM?28z%<1<>UubZxOH1}RYj$6i;Odu>;2D~%Ijeoz z;LH<_$#f(v9Z(w?;Bbj1o76wKpHs`xw2h#1K)=j^T4HrWLjUZ#r9NN3Ek4cZY<$f* z@{bz^IDS7?+b{{#B=oCyj@s;S4%pnbDdKNRS*!KSi6le@XU=h4JM`JaJzF$r7X96M zjhc3HP14|ZwVE1-d%)poi^iXsSvKFFail9@=xE0snmf}mSBvB(HEIc0YPS?bYlgU- z12VP7gdw92bPdkTxp_<5emS)pqOA^}Hq+^fZ1xRI?3XZb>~&B}wQen0iyS$^b)>`P zNQ3}(H>M3p8vDp$&HXlLGqr>P+Q5yP+n=E2Un{T%RTf9D2mz$=+a%LZ!$BT#hk ze}a~f;M(AtH8NqOFEivD(LYhtal(dWt^J;JwMMj1O61@Ke}eO3O}h;0?BuOUN%Q)J zB9VThQxcw=^`JIK%ZzC7U*b`|{tn-Ogak0kHPg2}bD8Gr=iKd^sW}pbfTkr6bvg$) zu0D9=+1kaoXd4II;m>rA>X*EIrLaT9!js|;ICjJN44lux`5c@t!ufYNUxxD)IA4SF z4LIp|3;y^QCjJAjZ^PM&>38Av1325@{1nd5;1tJ~@;5->lam<6)MQ|?0bQZiWgEJe`%i;A*IM2d#0ABOp z%!hLooCRvR@ie?X1Lw1FHo^HkoG-%pcQ{{yvl-5R!1+%&-+=Q?INyeoj(6bi_u%{h z&JW@I7|ze(`~psKwBzen@VW=iZ{h5K^G7)M!uboFbPPy<{u0haI2~~A2d5KGag2c1 z1K>Om&Lm`q!0VxK9uDVNIFE#L9Gny3q~mD#`xrQX9}Ft;G6;H z@o>(Bb2glF;G7F*CY1p7yepxUfO%b9S{B({rn#j zQ!jt<-#7j-_3#CEjk;#jt0!Mro%Hd~XU;z4an}QBVA$}H=xy(?1FH&_TsU=d)rqP`lz!) zPi+tVWue0Rq1mZmR_{-&9P^ldt1@LSwla{y0xJx+r9Fh zoe38l@x@`MzdGQn<1YEf<|kG?8h!cS18zHR-s>-qTySCaz!yr-{l+_HQsx&sw%vO5 zlt;_TtDX%%_}s_Kx2$}jY~lmK^*?M{GVp@*`WN2$_M`H@jhy}BgLU5Qf#2>vKX>Ae zcOF{leSLi6+6nJ1*?s!P`t+9?My)+;)JH469PJ#n>yi;$=O1|Q5yPk4`2K^3dzY{I z+uu#`rp>>5#l>&j=Ez(zX~X0L z?%K2Ttq-nRF~R@ekKI3d@{W1>uG`Xvw`t)oi;tez|Be4X{_ejCgExEAzl+vw(UkScc9IjmbyDPU=KD)P~^_(OBw%^d&Z7W}R@Zsk^9^Jn6 z#-@jF+_B9U@u%N>?U+Y@-n1lRLwdbqljqL)gV*f7`uy_}hkfwvM-AGB6|Wz0!=p>z zIODMkW?ee|@!Pk3(*K%8SI-->zGc~23p%d9Y4>f%9^xD|t?KR}r+99BfA}BD@7S62 zO77f|qYl4g&$%0$o1ORW8voL`cmK6I?eXbDcAa1U_IqoN`miPa@GoZEv#qIg^RRcf z%v(6-#b^F?n zpW$yV%B%ch^0P;7UV8H1=Nmyb0*w% zaqW(+w_j7Sab4)#NB-V+!qU&5`C$D6cWe(8w~jsUyxVRavEyG?u6&_x$ADLdJaOZW zzc?=Row@qflfJ3^bX5NQ$G?B)%n`E=KJ%cCYoB;v*@&HmTLYKgpSy0y8Luv1^J<;; z*{Va=K6iirxi5@AXX0o3w}uXPj&h{`b?;BPo|`v#8(zqI?}a~k7NqZTJykn+{XhS+ zXjk%wEq{IB?e~6l>^^_)Qz_1ewr%?C*5$X|b?&1F9hz3N@Z}v>?cQ_s+TFR6P8{C$ z5gspJpFXp@E7EKAidU38P? 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zP{j<>iRDj`SgOLv1Il0uC_%+-={{JoTk{#HK}v#Ix~8ofsS8|DA~t4|o=pZ4&Uo#? zi@K-IA}{OIh7q>)UL5&p)`nipijXZT3G ze>GzpqB=9h)9joFTTiR~^7!bsnu}senGxNxD+{YKzhYy|Bh&0s<&jj*%Tcu1ikTbu z<_y^{JA7Ir;}aCG-Yp<}A-Fvrw%ZC`Hf^`l@O?lykpALK`XCDIN&0}|7+JseK_ZwS zXL1Ov*UKT0@}m2rBHm1(MlW_F(=>SJtWz$xp+7-v<}!J@noPyKd>SD%z>BMbLa7T> zykb)Xn>a)fIS99Tc|-=F46!;A>7hBZ8y*u2WG?oZI*jU2brMWu#Xn6$t6hV-w;-f!bO)_!$7 ze@fcl{g%w69^LZS(|HZ}4|wxu*Iu80x$QgQk`-^&}9Mk^) zjjyT2gYJjN9(b5feC(fcowUF7^M7&nC#gNRYBbXJ>GRU|dVCmz|CDLJ=K5co(Z9C; zEZWokYyTHr`-|G12()=!Fz@N@m(ZA=n6|&VD))c&t8#qZJy>}vVgB{LeuK8Q|997= z-Me3t /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.sh b/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.sh new file mode 100644 index 0000000..56e80a9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.zsh b/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/setup.bash b/docker/local-ros2/OdomComm/comm-ws/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/setup.sh b/docker/local-ros2/OdomComm/comm-ws/devel/setup.sh new file mode 100644 index 0000000..ce2d929 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/setup.zsh b/docker/local-ros2/OdomComm/comm-ws/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/Log.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/Log.lisp new file mode 100644 index 0000000..a0506af --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/Log.lisp @@ -0,0 +1,106 @@ +; Auto-generated. Do not edit! + + +(cl:in-package rosserial_msgs-msg) + + +;//! \htmlinclude Log.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((level + :reader level + :initarg :level + :type cl:fixnum + :initform 0) + (msg + :reader msg + :initarg :msg + :type cl:string + :initform "")) +) + +(cl:defclass Log () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'Log) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-msg: is deprecated: use rosserial_msgs-msg:Log instead."))) + +(cl:ensure-generic-function 'level-val :lambda-list '(m)) +(cl:defmethod level-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:level-val is deprecated. Use rosserial_msgs-msg:level instead.") + (level m)) + +(cl:ensure-generic-function 'msg-val :lambda-list '(m)) +(cl:defmethod msg-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:msg-val is deprecated. Use rosserial_msgs-msg:msg instead.") + (msg m)) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) + "Constants for message type '" + '((:ROSDEBUG . 0) + (:INFO . 1) + (:WARN . 2) + (:ERROR . 3) + (:FATAL . 4)) +) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'Log))) + "Constants for message type 'Log" + '((:ROSDEBUG . 0) + (:INFO . 1) + (:WARN . 2) + (:ERROR . 3) + (:FATAL . 4)) +) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'level)) ostream) + (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'msg)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) + (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'msg)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'level)) (cl:read-byte istream)) + (cl:let ((__ros_str_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'msg) (cl:make-string __ros_str_len)) + (cl:dotimes (__ros_str_idx __ros_str_len msg) + (cl:setf (cl:char (cl:slot-value msg 'msg) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "rosserial_msgs/Log") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Log))) + "Returns string type for a message object of type 'Log" + "rosserial_msgs/Log") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "11abd731c25933261cd6183bd12d6295") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Log))) + "Returns md5sum for a message object of type 'Log" + "11abd731c25933261cd6183bd12d6295") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "~%#ROS Logging Levels~%uint8 ROSDEBUG=0~%uint8 INFO=1~%uint8 WARN=2~%uint8 ERROR=3~%uint8 FATAL=4~%~%uint8 level~%string msg~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Log))) + "Returns full string definition for message of type 'Log" + (cl:format cl:nil "~%#ROS Logging Levels~%uint8 ROSDEBUG=0~%uint8 INFO=1~%uint8 WARN=2~%uint8 ERROR=3~%uint8 FATAL=4~%~%uint8 level~%string msg~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 1 + 4 (cl:length (cl:slot-value msg 'msg)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'Log + (cl:cons ':level (level msg)) + (cl:cons ':msg (msg msg)) +)) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/TopicInfo.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/TopicInfo.lisp new file mode 100644 index 0000000..106df53 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/TopicInfo.lisp @@ -0,0 +1,190 @@ +; Auto-generated. Do not edit! + + +(cl:in-package rosserial_msgs-msg) + + +;//! \htmlinclude TopicInfo.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((topic_id + :reader topic_id + :initarg :topic_id + :type cl:fixnum + :initform 0) + (topic_name + :reader topic_name + :initarg :topic_name + :type cl:string + :initform "") + (message_type + :reader message_type + :initarg :message_type + :type cl:string + :initform "") + (md5sum + :reader md5sum + :initarg :md5sum + :type cl:string + :initform "") + (buffer_size + :reader buffer_size + :initarg :buffer_size + :type cl:integer + :initform 0)) +) + +(cl:defclass TopicInfo () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'TopicInfo) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-msg: is deprecated: use rosserial_msgs-msg:TopicInfo instead."))) + +(cl:ensure-generic-function 'topic_id-val :lambda-list '(m)) +(cl:defmethod topic_id-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:topic_id-val is deprecated. Use rosserial_msgs-msg:topic_id instead.") + (topic_id m)) + +(cl:ensure-generic-function 'topic_name-val :lambda-list '(m)) +(cl:defmethod topic_name-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:topic_name-val is deprecated. Use rosserial_msgs-msg:topic_name instead.") + (topic_name m)) + +(cl:ensure-generic-function 'message_type-val :lambda-list '(m)) +(cl:defmethod message_type-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:message_type-val is deprecated. Use rosserial_msgs-msg:message_type instead.") + (message_type m)) + +(cl:ensure-generic-function 'md5sum-val :lambda-list '(m)) +(cl:defmethod md5sum-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:md5sum-val is deprecated. Use rosserial_msgs-msg:md5sum instead.") + (md5sum m)) + +(cl:ensure-generic-function 'buffer_size-val :lambda-list '(m)) +(cl:defmethod buffer_size-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:buffer_size-val is deprecated. Use rosserial_msgs-msg:buffer_size instead.") + (buffer_size m)) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) + "Constants for message type '" + '((:ID_PUBLISHER . 0) + (:ID_SUBSCRIBER . 1) + (:ID_SERVICE_SERVER . 2) + (:ID_SERVICE_CLIENT . 4) + (:ID_PARAMETER_REQUEST . 6) + (:ID_LOG . 7) + (:ID_TIME . 10) + (:ID_TX_STOP . 11)) +) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'TopicInfo))) + "Constants for message type 'TopicInfo" + '((:ID_PUBLISHER . 0) + (:ID_SUBSCRIBER . 1) + (:ID_SERVICE_SERVER . 2) + (:ID_SERVICE_CLIENT . 4) + (:ID_PARAMETER_REQUEST . 6) + (:ID_LOG . 7) + (:ID_TIME . 10) + (:ID_TX_STOP . 11)) +) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'topic_id)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'topic_id)) ostream) + (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'topic_name)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) + (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'topic_name)) + (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message_type)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) + (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message_type)) + (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'md5sum)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) + (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'md5sum)) + (cl:let* ((signed (cl:slot-value msg 'buffer_size)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream) + ) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'topic_id)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'topic_id)) (cl:read-byte istream)) + (cl:let ((__ros_str_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'topic_name) (cl:make-string __ros_str_len)) + (cl:dotimes (__ros_str_idx __ros_str_len msg) + (cl:setf (cl:char (cl:slot-value msg 'topic_name) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) + (cl:let ((__ros_str_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'message_type) (cl:make-string __ros_str_len)) + (cl:dotimes (__ros_str_idx __ros_str_len msg) + (cl:setf (cl:char (cl:slot-value msg 'message_type) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) + (cl:let ((__ros_str_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'md5sum) (cl:make-string __ros_str_len)) + (cl:dotimes (__ros_str_idx __ros_str_len msg) + (cl:setf (cl:char (cl:slot-value msg 'md5sum) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'buffer_size) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "rosserial_msgs/TopicInfo") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'TopicInfo))) + "Returns string type for a message object of type 'TopicInfo" + "rosserial_msgs/TopicInfo") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "0ad51f88fc44892f8c10684077646005") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'TopicInfo))) + "Returns md5sum for a message object of type 'TopicInfo" + "0ad51f88fc44892f8c10684077646005") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# special topic_ids~%uint16 ID_PUBLISHER=0~%uint16 ID_SUBSCRIBER=1~%uint16 ID_SERVICE_SERVER=2~%uint16 ID_SERVICE_CLIENT=4~%uint16 ID_PARAMETER_REQUEST=6~%uint16 ID_LOG=7~%uint16 ID_TIME=10~%uint16 ID_TX_STOP=11~%~%# The endpoint ID for this topic~%uint16 topic_id~%~%string topic_name~%string message_type~%~%# MD5 checksum for this message type~%string md5sum~%~%# size of the buffer message must fit in~%int32 buffer_size~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'TopicInfo))) + "Returns full string definition for message of type 'TopicInfo" + (cl:format cl:nil "# special topic_ids~%uint16 ID_PUBLISHER=0~%uint16 ID_SUBSCRIBER=1~%uint16 ID_SERVICE_SERVER=2~%uint16 ID_SERVICE_CLIENT=4~%uint16 ID_PARAMETER_REQUEST=6~%uint16 ID_LOG=7~%uint16 ID_TIME=10~%uint16 ID_TX_STOP=11~%~%# The endpoint ID for this topic~%uint16 topic_id~%~%string topic_name~%string message_type~%~%# MD5 checksum for this message type~%string md5sum~%~%# size of the buffer message must fit in~%int32 buffer_size~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 2 + 4 (cl:length (cl:slot-value msg 'topic_name)) + 4 (cl:length (cl:slot-value msg 'message_type)) + 4 (cl:length (cl:slot-value msg 'md5sum)) + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'TopicInfo + (cl:cons ':topic_id (topic_id msg)) + (cl:cons ':topic_name (topic_name msg)) + (cl:cons ':message_type (message_type msg)) + (cl:cons ':md5sum (md5sum msg)) + (cl:cons ':buffer_size (buffer_size msg)) +)) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package.lisp new file mode 100644 index 0000000..8362358 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package.lisp @@ -0,0 +1,9 @@ +(cl:defpackage rosserial_msgs-msg + (:use ) + (:export + "" + "LOG" + "" + "TOPICINFO" + )) + diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_Log.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_Log.lisp new file mode 100644 index 0000000..8aaf384 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_Log.lisp @@ -0,0 +1,6 @@ +(cl:in-package rosserial_msgs-msg) +(cl:export '(LEVEL-VAL + LEVEL + MSG-VAL + MSG +)) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_TopicInfo.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_TopicInfo.lisp new file mode 100644 index 0000000..7ed9341 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_TopicInfo.lisp @@ -0,0 +1,12 @@ +(cl:in-package rosserial_msgs-msg) +(cl:export '(TOPIC_ID-VAL + TOPIC_ID + TOPIC_NAME-VAL + TOPIC_NAME + MESSAGE_TYPE-VAL + MESSAGE_TYPE + MD5SUM-VAL + MD5SUM + BUFFER_SIZE-VAL + BUFFER_SIZE +)) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/rosserial_msgs-msg.asd b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/rosserial_msgs-msg.asd new file mode 100644 index 0000000..475a6c9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/rosserial_msgs-msg.asd @@ -0,0 +1,11 @@ + +(cl:in-package :asdf) + +(defsystem "rosserial_msgs-msg" + :depends-on (:roslisp-msg-protocol :roslisp-utils ) + :components ((:file "_package") + (:file "Log" :depends-on ("_package_Log")) + (:file "_package_Log" :depends-on ("_package")) + (:file "TopicInfo" :depends-on ("_package_TopicInfo")) + (:file "_package_TopicInfo" :depends-on ("_package")) + )) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/RequestParam.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/RequestParam.lisp new file mode 100644 index 0000000..cb8836f --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/RequestParam.lisp @@ -0,0 +1,242 @@ +; Auto-generated. Do not edit! + + +(cl:in-package rosserial_msgs-srv) + + +;//! \htmlinclude RequestParam-request.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((name + :reader name + :initarg :name + :type cl:string + :initform "")) +) + +(cl:defclass RequestParam-request () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RequestParam-request) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-srv: is deprecated: use rosserial_msgs-srv:RequestParam-request instead."))) + +(cl:ensure-generic-function 'name-val :lambda-list '(m)) +(cl:defmethod name-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:name-val is deprecated. Use rosserial_msgs-srv:name instead.") + (name m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'name)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) + (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'name)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:let ((__ros_str_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'name) (cl:make-string __ros_str_len)) + (cl:dotimes (__ros_str_idx __ros_str_len msg) + (cl:setf (cl:char (cl:slot-value msg 'name) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a service object of type '" + "rosserial_msgs/RequestParamRequest") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RequestParam-request))) + "Returns string type for a service object of type 'RequestParam-request" + "rosserial_msgs/RequestParamRequest") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "d7a0c2be00c9fd03cc69f2863de9c4d9") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RequestParam-request))) + "Returns md5sum for a message object of type 'RequestParam-request" + "d7a0c2be00c9fd03cc69f2863de9c4d9") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "string name~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RequestParam-request))) + "Returns full string definition for message of type 'RequestParam-request" + (cl:format cl:nil "string name~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 4 (cl:length (cl:slot-value msg 'name)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'RequestParam-request + (cl:cons ':name (name msg)) +)) +;//! \htmlinclude RequestParam-response.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((ints + :reader ints + :initarg :ints + :type (cl:vector cl:integer) + :initform (cl:make-array 0 :element-type 'cl:integer :initial-element 0)) + (floats + :reader floats + :initarg :floats + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (strings + :reader strings + :initarg :strings + :type (cl:vector cl:string) + :initform (cl:make-array 0 :element-type 'cl:string :initial-element ""))) +) + +(cl:defclass RequestParam-response () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RequestParam-response) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-srv: is deprecated: use rosserial_msgs-srv:RequestParam-response instead."))) + +(cl:ensure-generic-function 'ints-val :lambda-list '(m)) +(cl:defmethod ints-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:ints-val is deprecated. Use rosserial_msgs-srv:ints instead.") + (ints m)) + +(cl:ensure-generic-function 'floats-val :lambda-list '(m)) +(cl:defmethod floats-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:floats-val is deprecated. Use rosserial_msgs-srv:floats instead.") + (floats m)) + +(cl:ensure-generic-function 'strings-val :lambda-list '(m)) +(cl:defmethod strings-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:strings-val is deprecated. Use rosserial_msgs-srv:strings instead.") + (strings m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'ints)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream) + )) + (cl:slot-value msg 'ints)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'floats)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele))) + (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))) + (cl:slot-value msg 'floats)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'strings)))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((__ros_str_len (cl:length ele))) + (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) + (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) ele)) + (cl:slot-value msg 'strings)) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (cl:let ((__ros_arr_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'ints) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'ints))) + (cl:dotimes (i __ros_arr_len) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296))))))) + (cl:let ((__ros_arr_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'floats) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'floats))) + (cl:dotimes (i __ros_arr_len) + (cl:let ((bits 0)) + (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))) + (cl:let ((__ros_arr_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'strings) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'strings))) + (cl:dotimes (i __ros_arr_len) + (cl:let ((__ros_str_len 0)) + (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:make-string __ros_str_len)) + (cl:dotimes (__ros_str_idx __ros_str_len msg) + (cl:setf (cl:char (cl:aref vals i) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a service object of type '" + "rosserial_msgs/RequestParamResponse") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RequestParam-response))) + "Returns string type for a service object of type 'RequestParam-response" + "rosserial_msgs/RequestParamResponse") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "d7a0c2be00c9fd03cc69f2863de9c4d9") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RequestParam-response))) + "Returns md5sum for a message object of type 'RequestParam-response" + "d7a0c2be00c9fd03cc69f2863de9c4d9") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "~%int32[] ints~%float32[] floats~%string[] strings~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RequestParam-response))) + "Returns full string definition for message of type 'RequestParam-response" + (cl:format cl:nil "~%int32[] ints~%float32[] floats~%string[] strings~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'ints) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'floats) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'strings) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4 (cl:length ele)))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'RequestParam-response + (cl:cons ':ints (ints msg)) + (cl:cons ':floats (floats msg)) + (cl:cons ':strings (strings msg)) +)) +(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'RequestParam))) + 'RequestParam-request) +(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'RequestParam))) + 'RequestParam-response) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RequestParam))) + "Returns string type for a service object of type '" + "rosserial_msgs/RequestParam") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package.lisp new file mode 100644 index 0000000..ef21b8c --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package.lisp @@ -0,0 +1,10 @@ +(cl:defpackage rosserial_msgs-srv + (:use ) + (:export + "REQUESTPARAM" + "" + "REQUESTPARAM-REQUEST" + "" + "REQUESTPARAM-RESPONSE" + )) + diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package_RequestParam.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package_RequestParam.lisp new file mode 100644 index 0000000..8b7cce4 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package_RequestParam.lisp @@ -0,0 +1,10 @@ +(cl:in-package rosserial_msgs-srv) +(cl:export '(NAME-VAL + NAME + INTS-VAL + INTS + FLOATS-VAL + FLOATS + STRINGS-VAL + STRINGS +)) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/rosserial_msgs-srv.asd b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/rosserial_msgs-srv.asd new file mode 100644 index 0000000..a335ac2 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/rosserial_msgs-srv.asd @@ -0,0 +1,9 @@ + +(cl:in-package :asdf) + +(defsystem "rosserial_msgs-srv" + :depends-on (:roslisp-msg-protocol :roslisp-utils ) + :components ((:file "_package") + (:file "RequestParam" :depends-on ("_package_RequestParam")) + (:file "_package_RequestParam" :depends-on ("_package")) + )) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-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/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig.cmake new file mode 100644 index 0000000..f2ba027 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(firmware_commun_CONFIG_INCLUDED) + return() +endif() +set(firmware_commun_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(firmware_commun_SOURCE_PREFIX /root/comm-ws/src/firmware_commun) + set(firmware_commun_DEVEL_PREFIX /root/comm-ws/devel) + set(firmware_commun_INSTALL_PREFIX "") + set(firmware_commun_PREFIX ${firmware_commun_DEVEL_PREFIX}) +else() + set(firmware_commun_SOURCE_PREFIX "") + set(firmware_commun_DEVEL_PREFIX "") + set(firmware_commun_INSTALL_PREFIX /root/comm-ws/install) + set(firmware_commun_PREFIX ${firmware_commun_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'firmware_commun' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(firmware_commun_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(firmware_commun_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${firmware_commun_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/firmware_commun/${idir}'. ${_report}") + endif() + _list_append_unique(firmware_commun_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND firmware_commun_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND firmware_commun_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT firmware_commun_NUM_DUMMY_TARGETS) + set(firmware_commun_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR firmware_commun_NUM_DUMMY_TARGETS "${firmware_commun_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND firmware_commun_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND firmware_commun_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND firmware_commun_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(firmware_commun_LIBRARY_DIRS ${lib_path}) + list(APPEND firmware_commun_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'firmware_commun'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND firmware_commun_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(firmware_commun_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${firmware_commun_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 firmware_commun_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${firmware_commun_dep}_FOUND) + find_package(${firmware_commun_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${firmware_commun_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(firmware_commun_INCLUDE_DIRS ${${firmware_commun_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${firmware_commun_dep}_LIBRARIES}) + _list_append_deduplicate(firmware_commun_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) + + _list_append_unique(firmware_commun_LIBRARY_DIRS ${${firmware_commun_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(firmware_commun_EXPORTED_TARGETS ${${firmware_commun_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${firmware_commun_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config.cmake new file mode 100644 index 0000000..4609614 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(flask_esp8266_CONFIG_INCLUDED) + return() +endif() +set(flask_esp8266_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(flask_esp8266_SOURCE_PREFIX /root/comm-ws/src/flask_esp8266) + set(flask_esp8266_DEVEL_PREFIX /root/comm-ws/devel) + set(flask_esp8266_INSTALL_PREFIX "") + set(flask_esp8266_PREFIX ${flask_esp8266_DEVEL_PREFIX}) +else() + set(flask_esp8266_SOURCE_PREFIX "") + set(flask_esp8266_DEVEL_PREFIX "") + set(flask_esp8266_INSTALL_PREFIX /root/comm-ws/install) + set(flask_esp8266_PREFIX ${flask_esp8266_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'flask_esp8266' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(flask_esp8266_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(flask_esp8266_INCLUDE_DIRS "") + set(_include_dirs "") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${flask_esp8266_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/flask_esp8266/${idir}'. ${_report}") + endif() + _list_append_unique(flask_esp8266_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND flask_esp8266_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND flask_esp8266_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT flask_esp8266_NUM_DUMMY_TARGETS) + set(flask_esp8266_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR flask_esp8266_NUM_DUMMY_TARGETS "${flask_esp8266_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND flask_esp8266_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND flask_esp8266_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND flask_esp8266_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(flask_esp8266_LIBRARY_DIRS ${lib_path}) + list(APPEND flask_esp8266_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'flask_esp8266'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND flask_esp8266_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(flask_esp8266_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${flask_esp8266_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 flask_esp8266_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${flask_esp8266_dep}_FOUND) + find_package(${flask_esp8266_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${flask_esp8266_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(flask_esp8266_INCLUDE_DIRS ${${flask_esp8266_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${flask_esp8266_dep}_LIBRARIES}) + _list_append_deduplicate(flask_esp8266_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) + + _list_append_unique(flask_esp8266_LIBRARY_DIRS ${${flask_esp8266_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(flask_esp8266_EXPORTED_TARGETS ${${flask_esp8266_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${flask_esp8266_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/_index.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/_index.js new file mode 100644 index 0000000..5f2ece8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/_index.js @@ -0,0 +1,7 @@ + +"use strict"; + +module.exports = { + msg: require('./msg/_index.js'), + srv: require('./srv/_index.js') +}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/Log.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/Log.js new file mode 100644 index 0000000..a5a3061 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/Log.js @@ -0,0 +1,126 @@ +// Auto-generated. Do not edit! + +// (in-package rosserial_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class Log { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.level = null; + this.msg = null; + } + else { + if (initObj.hasOwnProperty('level')) { + this.level = initObj.level + } + else { + this.level = 0; + } + if (initObj.hasOwnProperty('msg')) { + this.msg = initObj.msg + } + else { + this.msg = ''; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type Log + // Serialize message field [level] + bufferOffset = _serializer.uint8(obj.level, buffer, bufferOffset); + // Serialize message field [msg] + bufferOffset = _serializer.string(obj.msg, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type Log + let len; + let data = new Log(null); + // Deserialize message field [level] + data.level = _deserializer.uint8(buffer, bufferOffset); + // Deserialize message field [msg] + data.msg = _deserializer.string(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + let length = 0; + length += _getByteLength(object.msg); + return length + 5; + } + + static datatype() { + // Returns string type for a message object + return 'rosserial_msgs/Log'; + } + + static md5sum() { + //Returns md5sum for a message object + return '11abd731c25933261cd6183bd12d6295'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + + #ROS Logging Levels + uint8 ROSDEBUG=0 + uint8 INFO=1 + uint8 WARN=2 + uint8 ERROR=3 + uint8 FATAL=4 + + uint8 level + string msg + + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new Log(null); + if (msg.level !== undefined) { + resolved.level = msg.level; + } + else { + resolved.level = 0 + } + + if (msg.msg !== undefined) { + resolved.msg = msg.msg; + } + else { + resolved.msg = '' + } + + return resolved; + } +}; + +// Constants for message +Log.Constants = { + ROSDEBUG: 0, + INFO: 1, + WARN: 2, + ERROR: 3, + FATAL: 4, +} + +module.exports = Log; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/TopicInfo.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/TopicInfo.js new file mode 100644 index 0000000..466e6e7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/TopicInfo.js @@ -0,0 +1,196 @@ +// Auto-generated. Do not edit! + +// (in-package rosserial_msgs.msg) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + +class TopicInfo { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.topic_id = null; + this.topic_name = null; + this.message_type = null; + this.md5sum = null; + this.buffer_size = null; + } + else { + if (initObj.hasOwnProperty('topic_id')) { + this.topic_id = initObj.topic_id + } + else { + this.topic_id = 0; + } + if (initObj.hasOwnProperty('topic_name')) { + this.topic_name = initObj.topic_name + } + else { + this.topic_name = ''; + } + if (initObj.hasOwnProperty('message_type')) { + this.message_type = initObj.message_type + } + else { + this.message_type = ''; + } + if (initObj.hasOwnProperty('md5sum')) { + this.md5sum = initObj.md5sum + } + else { + this.md5sum = ''; + } + if (initObj.hasOwnProperty('buffer_size')) { + this.buffer_size = initObj.buffer_size + } + else { + this.buffer_size = 0; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type TopicInfo + // Serialize message field [topic_id] + bufferOffset = _serializer.uint16(obj.topic_id, buffer, bufferOffset); + // Serialize message field [topic_name] + bufferOffset = _serializer.string(obj.topic_name, buffer, bufferOffset); + // Serialize message field [message_type] + bufferOffset = _serializer.string(obj.message_type, buffer, bufferOffset); + // Serialize message field [md5sum] + bufferOffset = _serializer.string(obj.md5sum, buffer, bufferOffset); + // Serialize message field [buffer_size] + bufferOffset = _serializer.int32(obj.buffer_size, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type TopicInfo + let len; + let data = new TopicInfo(null); + // Deserialize message field [topic_id] + data.topic_id = _deserializer.uint16(buffer, bufferOffset); + // Deserialize message field [topic_name] + data.topic_name = _deserializer.string(buffer, bufferOffset); + // Deserialize message field [message_type] + data.message_type = _deserializer.string(buffer, bufferOffset); + // Deserialize message field [md5sum] + data.md5sum = _deserializer.string(buffer, bufferOffset); + // Deserialize message field [buffer_size] + data.buffer_size = _deserializer.int32(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + let length = 0; + length += _getByteLength(object.topic_name); + length += _getByteLength(object.message_type); + length += _getByteLength(object.md5sum); + return length + 18; + } + + static datatype() { + // Returns string type for a message object + return 'rosserial_msgs/TopicInfo'; + } + + static md5sum() { + //Returns md5sum for a message object + return '0ad51f88fc44892f8c10684077646005'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + # special topic_ids + uint16 ID_PUBLISHER=0 + uint16 ID_SUBSCRIBER=1 + uint16 ID_SERVICE_SERVER=2 + uint16 ID_SERVICE_CLIENT=4 + uint16 ID_PARAMETER_REQUEST=6 + uint16 ID_LOG=7 + uint16 ID_TIME=10 + uint16 ID_TX_STOP=11 + + # The endpoint ID for this topic + uint16 topic_id + + string topic_name + string message_type + + # MD5 checksum for this message type + string md5sum + + # size of the buffer message must fit in + int32 buffer_size + + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new TopicInfo(null); + if (msg.topic_id !== undefined) { + resolved.topic_id = msg.topic_id; + } + else { + resolved.topic_id = 0 + } + + if (msg.topic_name !== undefined) { + resolved.topic_name = msg.topic_name; + } + else { + resolved.topic_name = '' + } + + if (msg.message_type !== undefined) { + resolved.message_type = msg.message_type; + } + else { + resolved.message_type = '' + } + + if (msg.md5sum !== undefined) { + resolved.md5sum = msg.md5sum; + } + else { + resolved.md5sum = '' + } + + if (msg.buffer_size !== undefined) { + resolved.buffer_size = msg.buffer_size; + } + else { + resolved.buffer_size = 0 + } + + return resolved; + } +}; + +// Constants for message +TopicInfo.Constants = { + ID_PUBLISHER: 0, + ID_SUBSCRIBER: 1, + ID_SERVICE_SERVER: 2, + ID_SERVICE_CLIENT: 4, + ID_PARAMETER_REQUEST: 6, + ID_LOG: 7, + ID_TIME: 10, + ID_TX_STOP: 11, +} + +module.exports = TopicInfo; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/_index.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/_index.js new file mode 100644 index 0000000..d2dbef6 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/_index.js @@ -0,0 +1,10 @@ + +"use strict"; + +let TopicInfo = require('./TopicInfo.js'); +let Log = require('./Log.js'); + +module.exports = { + TopicInfo: TopicInfo, + Log: Log, +}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/RequestParam.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/RequestParam.js new file mode 100644 index 0000000..a8ae4a9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/RequestParam.js @@ -0,0 +1,216 @@ +// Auto-generated. Do not edit! + +// (in-package rosserial_msgs.srv) + + +"use strict"; + +const _serializer = _ros_msg_utils.Serialize; +const _arraySerializer = _serializer.Array; +const _deserializer = _ros_msg_utils.Deserialize; +const _arrayDeserializer = _deserializer.Array; +const _finder = _ros_msg_utils.Find; +const _getByteLength = _ros_msg_utils.getByteLength; + +//----------------------------------------------------------- + + +//----------------------------------------------------------- + +class RequestParamRequest { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.name = null; + } + else { + if (initObj.hasOwnProperty('name')) { + this.name = initObj.name + } + else { + this.name = ''; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type RequestParamRequest + // Serialize message field [name] + bufferOffset = _serializer.string(obj.name, buffer, bufferOffset); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type RequestParamRequest + let len; + let data = new RequestParamRequest(null); + // Deserialize message field [name] + data.name = _deserializer.string(buffer, bufferOffset); + return data; + } + + static getMessageSize(object) { + let length = 0; + length += _getByteLength(object.name); + return length + 4; + } + + static datatype() { + // Returns string type for a service object + return 'rosserial_msgs/RequestParamRequest'; + } + + static md5sum() { + //Returns md5sum for a message object + return 'c1f3d28f1b044c871e6eff2e9fc3c667'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + string name + + + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new RequestParamRequest(null); + if (msg.name !== undefined) { + resolved.name = msg.name; + } + else { + resolved.name = '' + } + + return resolved; + } +}; + +class RequestParamResponse { + constructor(initObj={}) { + if (initObj === null) { + // initObj === null is a special case for deserialization where we don't initialize fields + this.ints = null; + this.floats = null; + this.strings = null; + } + else { + if (initObj.hasOwnProperty('ints')) { + this.ints = initObj.ints + } + else { + this.ints = []; + } + if (initObj.hasOwnProperty('floats')) { + this.floats = initObj.floats + } + else { + this.floats = []; + } + if (initObj.hasOwnProperty('strings')) { + this.strings = initObj.strings + } + else { + this.strings = []; + } + } + } + + static serialize(obj, buffer, bufferOffset) { + // Serializes a message object of type RequestParamResponse + // Serialize message field [ints] + bufferOffset = _arraySerializer.int32(obj.ints, buffer, bufferOffset, null); + // Serialize message field [floats] + bufferOffset = _arraySerializer.float32(obj.floats, buffer, bufferOffset, null); + // Serialize message field [strings] + bufferOffset = _arraySerializer.string(obj.strings, buffer, bufferOffset, null); + return bufferOffset; + } + + static deserialize(buffer, bufferOffset=[0]) { + //deserializes a message object of type RequestParamResponse + let len; + let data = new RequestParamResponse(null); + // Deserialize message field [ints] + data.ints = _arrayDeserializer.int32(buffer, bufferOffset, null) + // Deserialize message field [floats] + data.floats = _arrayDeserializer.float32(buffer, bufferOffset, null) + // Deserialize message field [strings] + data.strings = _arrayDeserializer.string(buffer, bufferOffset, null) + return data; + } + + static getMessageSize(object) { + let length = 0; + length += 4 * object.ints.length; + length += 4 * object.floats.length; + object.strings.forEach((val) => { + length += 4 + _getByteLength(val); + }); + return length + 12; + } + + static datatype() { + // Returns string type for a service object + return 'rosserial_msgs/RequestParamResponse'; + } + + static md5sum() { + //Returns md5sum for a message object + return '9f0e98bda65981986ddf53afa7a40e49'; + } + + static messageDefinition() { + // Returns full string definition for message + return ` + + int32[] ints + float32[] floats + string[] strings + + + `; + } + + static Resolve(msg) { + // deep-construct a valid message object instance of whatever was passed in + if (typeof msg !== 'object' || msg === null) { + msg = {}; + } + const resolved = new RequestParamResponse(null); + if (msg.ints !== undefined) { + resolved.ints = msg.ints; + } + else { + resolved.ints = [] + } + + if (msg.floats !== undefined) { + resolved.floats = msg.floats; + } + else { + resolved.floats = [] + } + + if (msg.strings !== undefined) { + resolved.strings = msg.strings; + } + else { + resolved.strings = [] + } + + return resolved; + } +}; + +module.exports = { + Request: RequestParamRequest, + Response: RequestParamResponse, + md5sum() { return 'd7a0c2be00c9fd03cc69f2863de9c4d9'; }, + datatype() { return 'rosserial_msgs/RequestParam'; } +}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/_index.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/_index.js new file mode 100644 index 0000000..2b30d81 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/_index.js @@ -0,0 +1,8 @@ + +"use strict"; + +let RequestParam = require('./RequestParam.js') + +module.exports = { + RequestParam: RequestParam, +}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/manifest.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/manifest.l new file mode 100644 index 0000000..1b1baf4 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/manifest.l @@ -0,0 +1,8 @@ +;; +;; DO NOT EDIT THIS FILE +;; +;; THIS FILE IS AUTOMATICALLY GENERATED +;; FROM /root/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml (0.9.2) +;; USING /opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py /opt/ros/noetic/share/geneus/package.xml (3.0.0) +;; +(ros::load-ros-package "rosserial_msgs") diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/Log.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/Log.l new file mode 100644 index 0000000..27906dd --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/Log.l @@ -0,0 +1,108 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'rosserial_msgs::Log) + (if (not (find-package "ROSSERIAL_MSGS")) + (make-package "ROSSERIAL_MSGS")) + (shadow 'Log (find-package "ROSSERIAL_MSGS"))) +(unless (find-package "ROSSERIAL_MSGS::LOG") + (make-package "ROSSERIAL_MSGS::LOG")) + +(in-package "ROS") +;;//! \htmlinclude Log.msg.html + + +(intern "*ROSDEBUG*" (find-package "ROSSERIAL_MSGS::LOG")) +(shadow '*ROSDEBUG* (find-package "ROSSERIAL_MSGS::LOG")) +(defconstant rosserial_msgs::Log::*ROSDEBUG* 0) +(intern "*INFO*" (find-package "ROSSERIAL_MSGS::LOG")) +(shadow '*INFO* (find-package "ROSSERIAL_MSGS::LOG")) +(defconstant rosserial_msgs::Log::*INFO* 1) +(intern "*WARN*" (find-package "ROSSERIAL_MSGS::LOG")) +(shadow '*WARN* (find-package "ROSSERIAL_MSGS::LOG")) +(defconstant rosserial_msgs::Log::*WARN* 2) +(intern "*ERROR*" (find-package "ROSSERIAL_MSGS::LOG")) +(shadow '*ERROR* (find-package "ROSSERIAL_MSGS::LOG")) +(defconstant rosserial_msgs::Log::*ERROR* 3) +(intern "*FATAL*" (find-package "ROSSERIAL_MSGS::LOG")) +(shadow '*FATAL* (find-package "ROSSERIAL_MSGS::LOG")) +(defconstant rosserial_msgs::Log::*FATAL* 4) + +(defun rosserial_msgs::Log-to-symbol (const) + (cond + ((= const 0) 'rosserial_msgs::Log::*ROSDEBUG*) + ((= const 1) 'rosserial_msgs::Log::*INFO*) + ((= const 2) 'rosserial_msgs::Log::*WARN*) + ((= const 3) 'rosserial_msgs::Log::*ERROR*) + ((= const 4) 'rosserial_msgs::Log::*FATAL*) + (t nil))) + +(defclass rosserial_msgs::Log + :super ros::object + :slots (_level _msg )) + +(defmethod rosserial_msgs::Log + (:init + (&key + ((:level __level) 0) + ((:msg __msg) "") + ) + (send-super :init) + (setq _level (round __level)) + (setq _msg (string __msg)) + self) + (:level + (&optional __level) + (if __level (setq _level __level)) _level) + (:msg + (&optional __msg) + (if __msg (setq _msg __msg)) _msg) + (:serialization-length + () + (+ + ;; uint8 _level + 1 + ;; string _msg + 4 (length _msg) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _level + (write-byte _level s) + ;; string _msg + (write-long (length _msg) s) (princ _msg s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _level + (setq _level (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; string _msg + (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _msg (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) + ;; + self) + ) + +(setf (get rosserial_msgs::Log :md5sum-) "11abd731c25933261cd6183bd12d6295") +(setf (get rosserial_msgs::Log :datatype-) "rosserial_msgs/Log") +(setf (get rosserial_msgs::Log :definition-) + " +#ROS Logging Levels +uint8 ROSDEBUG=0 +uint8 INFO=1 +uint8 WARN=2 +uint8 ERROR=3 +uint8 FATAL=4 + +uint8 level +string msg + +") + + + +(provide :rosserial_msgs/Log "11abd731c25933261cd6183bd12d6295") + + diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/TopicInfo.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/TopicInfo.l new file mode 100644 index 0000000..ce25cb4 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/TopicInfo.l @@ -0,0 +1,164 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'rosserial_msgs::TopicInfo) + (if (not (find-package "ROSSERIAL_MSGS")) + (make-package "ROSSERIAL_MSGS")) + (shadow 'TopicInfo (find-package "ROSSERIAL_MSGS"))) +(unless (find-package "ROSSERIAL_MSGS::TOPICINFO") + (make-package "ROSSERIAL_MSGS::TOPICINFO")) + +(in-package "ROS") +;;//! \htmlinclude TopicInfo.msg.html + + +(intern "*ID_PUBLISHER*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_PUBLISHER* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_PUBLISHER* 0) +(intern "*ID_SUBSCRIBER*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_SUBSCRIBER* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_SUBSCRIBER* 1) +(intern "*ID_SERVICE_SERVER*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_SERVICE_SERVER* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_SERVICE_SERVER* 2) +(intern "*ID_SERVICE_CLIENT*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_SERVICE_CLIENT* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_SERVICE_CLIENT* 4) +(intern "*ID_PARAMETER_REQUEST*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_PARAMETER_REQUEST* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_PARAMETER_REQUEST* 6) +(intern "*ID_LOG*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_LOG* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_LOG* 7) +(intern "*ID_TIME*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_TIME* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_TIME* 10) +(intern "*ID_TX_STOP*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(shadow '*ID_TX_STOP* (find-package "ROSSERIAL_MSGS::TOPICINFO")) +(defconstant rosserial_msgs::TopicInfo::*ID_TX_STOP* 11) + +(defun rosserial_msgs::TopicInfo-to-symbol (const) + (cond + ((= const 0) 'rosserial_msgs::TopicInfo::*ID_PUBLISHER*) + ((= const 1) 'rosserial_msgs::TopicInfo::*ID_SUBSCRIBER*) + ((= const 2) 'rosserial_msgs::TopicInfo::*ID_SERVICE_SERVER*) + ((= const 4) 'rosserial_msgs::TopicInfo::*ID_SERVICE_CLIENT*) + ((= const 6) 'rosserial_msgs::TopicInfo::*ID_PARAMETER_REQUEST*) + ((= const 7) 'rosserial_msgs::TopicInfo::*ID_LOG*) + ((= const 10) 'rosserial_msgs::TopicInfo::*ID_TIME*) + ((= const 11) 'rosserial_msgs::TopicInfo::*ID_TX_STOP*) + (t nil))) + +(defclass rosserial_msgs::TopicInfo + :super ros::object + :slots (_topic_id _topic_name _message_type _md5sum _buffer_size )) + +(defmethod rosserial_msgs::TopicInfo + (:init + (&key + ((:topic_id __topic_id) 0) + ((:topic_name __topic_name) "") + ((:message_type __message_type) "") + ((:md5sum __md5sum) "") + ((:buffer_size __buffer_size) 0) + ) + (send-super :init) + (setq _topic_id (round __topic_id)) + (setq _topic_name (string __topic_name)) + (setq _message_type (string __message_type)) + (setq _md5sum (string __md5sum)) + (setq _buffer_size (round __buffer_size)) + self) + (:topic_id + (&optional __topic_id) + (if __topic_id (setq _topic_id __topic_id)) _topic_id) + (:topic_name + (&optional __topic_name) + (if __topic_name (setq _topic_name __topic_name)) _topic_name) + (:message_type + (&optional __message_type) + (if __message_type (setq _message_type __message_type)) _message_type) + (:md5sum + (&optional __md5sum) + (if __md5sum (setq _md5sum __md5sum)) _md5sum) + (:buffer_size + (&optional __buffer_size) + (if __buffer_size (setq _buffer_size __buffer_size)) _buffer_size) + (:serialization-length + () + (+ + ;; uint16 _topic_id + 2 + ;; string _topic_name + 4 (length _topic_name) + ;; string _message_type + 4 (length _message_type) + ;; string _md5sum + 4 (length _md5sum) + ;; int32 _buffer_size + 4 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint16 _topic_id + (write-word _topic_id s) + ;; string _topic_name + (write-long (length _topic_name) s) (princ _topic_name s) + ;; string _message_type + (write-long (length _message_type) s) (princ _message_type s) + ;; string _md5sum + (write-long (length _md5sum) s) (princ _md5sum s) + ;; int32 _buffer_size + (write-long _buffer_size s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint16 _topic_id + (setq _topic_id (sys::peek buf ptr- :short)) (incf ptr- 2) + ;; string _topic_name + (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _topic_name (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) + ;; string _message_type + (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _message_type (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) + ;; string _md5sum + (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _md5sum (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) + ;; int32 _buffer_size + (setq _buffer_size (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; + self) + ) + +(setf (get rosserial_msgs::TopicInfo :md5sum-) "0ad51f88fc44892f8c10684077646005") +(setf (get rosserial_msgs::TopicInfo :datatype-) "rosserial_msgs/TopicInfo") +(setf (get rosserial_msgs::TopicInfo :definition-) + "# special topic_ids +uint16 ID_PUBLISHER=0 +uint16 ID_SUBSCRIBER=1 +uint16 ID_SERVICE_SERVER=2 +uint16 ID_SERVICE_CLIENT=4 +uint16 ID_PARAMETER_REQUEST=6 +uint16 ID_LOG=7 +uint16 ID_TIME=10 +uint16 ID_TX_STOP=11 + +# The endpoint ID for this topic +uint16 topic_id + +string topic_name +string message_type + +# MD5 checksum for this message type +string md5sum + +# size of the buffer message must fit in +int32 buffer_size + +") + + + +(provide :rosserial_msgs/TopicInfo "0ad51f88fc44892f8c10684077646005") + + diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/srv/RequestParam.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/srv/RequestParam.l new file mode 100644 index 0000000..6528b98 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/srv/RequestParam.l @@ -0,0 +1,183 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'rosserial_msgs::RequestParam) + (if (not (find-package "ROSSERIAL_MSGS")) + (make-package "ROSSERIAL_MSGS")) + (shadow 'RequestParam (find-package "ROSSERIAL_MSGS"))) +(unless (find-package "ROSSERIAL_MSGS::REQUESTPARAM") + (make-package "ROSSERIAL_MSGS::REQUESTPARAM")) +(unless (find-package "ROSSERIAL_MSGS::REQUESTPARAMREQUEST") + (make-package "ROSSERIAL_MSGS::REQUESTPARAMREQUEST")) +(unless (find-package "ROSSERIAL_MSGS::REQUESTPARAMRESPONSE") + (make-package "ROSSERIAL_MSGS::REQUESTPARAMRESPONSE")) + +(in-package "ROS") + + + + + +(defclass rosserial_msgs::RequestParamRequest + :super ros::object + :slots (_name )) + +(defmethod rosserial_msgs::RequestParamRequest + (:init + (&key + ((:name __name) "") + ) + (send-super :init) + (setq _name (string __name)) + self) + (:name + (&optional __name) + (if __name (setq _name __name)) _name) + (:serialization-length + () + (+ + ;; string _name + 4 (length _name) + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; string _name + (write-long (length _name) s) (princ _name s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; string _name + (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _name (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) + ;; + self) + ) + +(defclass rosserial_msgs::RequestParamResponse + :super ros::object + :slots (_ints _floats _strings )) + +(defmethod rosserial_msgs::RequestParamResponse + (:init + (&key + ((:ints __ints) (make-array 0 :initial-element 0 :element-type :integer)) + ((:floats __floats) (make-array 0 :initial-element 0.0 :element-type :float)) + ((:strings __strings) (let (r) (dotimes (i 0) (push "" r)) r)) + ) + (send-super :init) + (setq _ints __ints) + (setq _floats __floats) + (setq _strings __strings) + self) + (:ints + (&optional __ints) + (if __ints (setq _ints __ints)) _ints) + (:floats + (&optional __floats) + (if __floats (setq _floats __floats)) _floats) + (:strings + (&optional __strings) + (if __strings (setq _strings __strings)) _strings) + (:serialization-length + () + (+ + ;; int32[] _ints + (* 4 (length _ints)) 4 + ;; float32[] _floats + (* 4 (length _floats)) 4 + ;; string[] _strings + (apply #'+ (mapcar #'(lambda (x) (+ 4 (length x))) _strings)) 4 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; int32[] _ints + (write-long (length _ints) s) + (dotimes (i (length _ints)) + (write-long (elt _ints i) s) + ) + ;; float32[] _floats + (write-long (length _floats) s) + (dotimes (i (length _floats)) + (sys::poke (elt _floats i) (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) + ) + ;; string[] _strings + (write-long (length _strings) s) + (dolist (elem _strings) + (write-long (length elem) s) (princ elem s) + ) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; int32[] _ints + (let (n) + (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) + (setq _ints (instantiate integer-vector n)) + (dotimes (i n) + (setf (elt _ints i) (sys::peek buf ptr- :integer)) (incf ptr- 4) + )) + ;; float32[] _floats + (let (n) + (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) + (setq _floats (instantiate float-vector n)) + (dotimes (i n) + (setf (elt _floats i) (sys::peek buf ptr- :float)) (incf ptr- 4) + )) + ;; string[] _strings + (let (n) + (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) + (setq _strings (make-list n)) + (dotimes (i n) + (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setf (elt _strings i) (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) + )) + ;; + self) + ) + +(defclass rosserial_msgs::RequestParam + :super ros::object + :slots ()) + +(setf (get rosserial_msgs::RequestParam :md5sum-) "d7a0c2be00c9fd03cc69f2863de9c4d9") +(setf (get rosserial_msgs::RequestParam :datatype-) "rosserial_msgs/RequestParam") +(setf (get rosserial_msgs::RequestParam :request) rosserial_msgs::RequestParamRequest) +(setf (get rosserial_msgs::RequestParam :response) rosserial_msgs::RequestParamResponse) + +(defmethod rosserial_msgs::RequestParamRequest + (:response () (instance rosserial_msgs::RequestParamResponse :init))) + +(setf (get rosserial_msgs::RequestParamRequest :md5sum-) "d7a0c2be00c9fd03cc69f2863de9c4d9") +(setf (get rosserial_msgs::RequestParamRequest :datatype-) "rosserial_msgs/RequestParamRequest") +(setf (get rosserial_msgs::RequestParamRequest :definition-) + "string name + +--- + +int32[] ints +float32[] floats +string[] strings + +") + +(setf (get rosserial_msgs::RequestParamResponse :md5sum-) "d7a0c2be00c9fd03cc69f2863de9c4d9") +(setf (get rosserial_msgs::RequestParamResponse :datatype-) "rosserial_msgs/RequestParamResponse") +(setf (get rosserial_msgs::RequestParamResponse :definition-) + "string name + +--- + +int32[] ints +float32[] floats +string[] strings + +") + + + +(provide :rosserial_msgs/RequestParam "d7a0c2be00c9fd03cc69f2863de9c4d9") + + diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-extras.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-extras.cmake new file mode 100644 index 0000000..1fe8307 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-extras.cmake @@ -0,0 +1,2 @@ +set(rosserial_msgs_MESSAGE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg") +set(rosserial_msgs_SERVICE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-paths.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-paths.cmake new file mode 100644 index 0000000..4344644 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-paths.cmake @@ -0,0 +1,4 @@ +# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in + +set(rosserial_msgs_MSG_INCLUDE_DIRS "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg") +set(rosserial_msgs_MSG_DEPENDENCIES ) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig-version.cmake new file mode 100644 index 0000000..742fb9a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.9.2") + +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 "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig.cmake new file mode 100644 index 0000000..0f1a5af --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(rosserial_msgs_CONFIG_INCLUDED) + return() +endif() +set(rosserial_msgs_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(rosserial_msgs_SOURCE_PREFIX /root/comm-ws/src/firmware_commun/src/rosserial_msgs) + set(rosserial_msgs_DEVEL_PREFIX /root/comm-ws/devel) + set(rosserial_msgs_INSTALL_PREFIX "") + set(rosserial_msgs_PREFIX ${rosserial_msgs_DEVEL_PREFIX}) +else() + set(rosserial_msgs_SOURCE_PREFIX "") + set(rosserial_msgs_DEVEL_PREFIX "") + set(rosserial_msgs_INSTALL_PREFIX /root/comm-ws/install) + set(rosserial_msgs_PREFIX ${rosserial_msgs_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'rosserial_msgs' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(rosserial_msgs_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/root/comm-ws/devel/include " STREQUAL " ") + set(rosserial_msgs_INCLUDE_DIRS "") + set(_include_dirs "/root/comm-ws/devel/include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT "http://ros.org/wiki/rosserial_msgs " STREQUAL " ") + set(_report "Check the website 'http://ros.org/wiki/rosserial_msgs' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Paul Bouchier , Mike Purvis ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${rosserial_msgs_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/firmware_commun/src/rosserial_msgs/${idir}'. ${_report}") + endif() + _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT rosserial_msgs_NUM_DUMMY_TARGETS) + set(rosserial_msgs_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR rosserial_msgs_NUM_DUMMY_TARGETS "${rosserial_msgs_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND rosserial_msgs_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND rosserial_msgs_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND rosserial_msgs_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${lib_path}) + list(APPEND rosserial_msgs_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_msgs'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND rosserial_msgs_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(rosserial_msgs_EXPORTED_TARGETS "rosserial_msgs_generate_messages_cpp;rosserial_msgs_generate_messages_eus;rosserial_msgs_generate_messages_lisp;rosserial_msgs_generate_messages_nodejs;rosserial_msgs_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${rosserial_msgs_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "message_runtime") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 rosserial_msgs_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${rosserial_msgs_dep}_FOUND) + find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${${rosserial_msgs_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${rosserial_msgs_dep}_LIBRARIES}) + _list_append_deduplicate(rosserial_msgs_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) + + _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${${rosserial_msgs_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(rosserial_msgs_EXPORTED_TARGETS ${${rosserial_msgs_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "rosserial_msgs-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${rosserial_msgs_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig-version.cmake new file mode 100644 index 0000000..742fb9a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.9.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig.cmake new file mode 100644 index 0000000..2a8f48b --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(rosserial_server_CONFIG_INCLUDED) + return() +endif() +set(rosserial_server_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(rosserial_server_SOURCE_PREFIX /root/comm-ws/src/firmware_commun/src/rosserial_server) + set(rosserial_server_DEVEL_PREFIX /root/comm-ws/devel) + set(rosserial_server_INSTALL_PREFIX "") + set(rosserial_server_PREFIX ${rosserial_server_DEVEL_PREFIX}) +else() + set(rosserial_server_SOURCE_PREFIX "") + set(rosserial_server_DEVEL_PREFIX "") + set(rosserial_server_INSTALL_PREFIX /root/comm-ws/install) + set(rosserial_server_PREFIX ${rosserial_server_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'rosserial_server' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(rosserial_server_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/root/comm-ws/src/firmware_commun/src/rosserial_server/include " STREQUAL " ") + set(rosserial_server_INCLUDE_DIRS "") + set(_include_dirs "/root/comm-ws/src/firmware_commun/src/rosserial_server/include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'Mike Purvis ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${rosserial_server_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/firmware_commun/src/rosserial_server/${idir}'. ${_report}") + endif() + _list_append_unique(rosserial_server_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "rosserial_server_lookup") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT rosserial_server_NUM_DUMMY_TARGETS) + set(rosserial_server_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR rosserial_server_NUM_DUMMY_TARGETS "${rosserial_server_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND rosserial_server_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND rosserial_server_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND rosserial_server_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(rosserial_server_LIBRARY_DIRS ${lib_path}) + list(APPEND rosserial_server_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_server'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND rosserial_server_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(rosserial_server_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${rosserial_server_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "roscpp;rosserial_msgs;std_msgs;topic_tools") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 rosserial_server_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${rosserial_server_dep}_FOUND) + find_package(${rosserial_server_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${rosserial_server_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(rosserial_server_INCLUDE_DIRS ${${rosserial_server_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${rosserial_server_dep}_LIBRARIES}) + _list_append_deduplicate(rosserial_server_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) + + _list_append_unique(rosserial_server_LIBRARY_DIRS ${${rosserial_server_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(rosserial_server_EXPORTED_TARGETS ${${rosserial_server_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${rosserial_server_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/src/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/CMakeLists.txt new file mode 100644 index 0000000..2016816 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/src/__pycache__/app.cpython-38.pyc b/docker/local-ros2/OdomComm/comm-ws/src/__pycache__/app.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..fd02dfbab4fae25475db7f567ff5a87d5760f80b GIT binary patch literal 391 zcmYjNu};G<5WTbGCIrgD!U$s!G_a!zfrOa407B{#g`8&|yWJREe4iYQwh`dR7waKhapuyTJ0Kt|p~4{|NR;dahg|ZH zfY>Jzr{EP_M@U9u%5-1y#}0KUq=+`&IReGkkZk@s9Z1lM%Q8391*U~>tcSA!7cNcU zfY6cHVBWowWvLGL?vyTR{|mG~T)|>D)k-yKp{nZW$)rXXX$@0)l;kh literal 0 HcmV?d00001 diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CHANGELOG.rst b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CHANGELOG.rst new file mode 100644 index 0000000..ee8c98d --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CHANGELOG.rst @@ -0,0 +1,105 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rosserial_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.2 (2021-04-02) +------------------ + +0.9.1 (2020-09-09) +------------------ + +0.9.0 (2020-08-25) +------------------ +* Fix Travis for Noetic + Python 3 +* Bump minimum CMake version to 3.7.2 (Melodic). +* Drop separate node for message service (`#446 `_) +* Contributors: Mike Purvis + +0.8.0 (2018-10-11) +------------------ + +0.7.7 (2017-11-29) +------------------ +* Fix catkin lint errors (`#296 `_) +* Contributors: Bei Chen Liu + +0.7.6 (2017-03-01) +------------------ + +0.7.5 (2016-11-22) +------------------ + +0.7.4 (2016-09-21) +------------------ + +0.7.3 (2016-08-05) +------------------ + +0.7.2 (2016-07-15) +------------------ + +0.7.1 (2015-07-06) +------------------ + +0.7.0 (2015-04-23) +------------------ + +0.6.3 (2014-11-05) +------------------ + +0.6.2 (2014-09-10) +------------------ + +0.6.1 (2014-06-30) +------------------ + +0.6.0 (2014-06-11) +------------------ +* Uncomment ID_TX_STOP constant, per `#111 `_ +* Contributors: Mike Purvis + +0.5.6 (2014-06-11) +------------------ +* Add Mike Purvis as maintainer to all but xbee. +* remove ID_TX_STOP from rosserial_msgs/msg/TopicInfo.msg, using hardcode modification. fix the dupilcated registration problem of subscriber +* modified rosserial +* Contributors: Mike Purvis, Moju Zhao + +0.5.5 (2014-01-14) +------------------ + +0.5.4 (2013-10-17) +------------------ + +0.5.3 (2013-09-21) +------------------ +* Add message info service and stub of node to provide it, for +rosserial_server support. + +0.5.2 (2013-07-17) +------------------ + +* Fix release version + +0.5.1 (2013-07-15) +------------------ + +0.4.5 (2013-07-02) +------------------ + +0.4.4 (2013-03-20) +------------------ + +0.4.3 (2013-03-13 14:08) +------------------------ + +0.4.2 (2013-03-13 01:15) +------------------------ + +0.4.1 (2013-03-09) +------------------ + +0.4.0 (2013-03-08) +------------------ +* Changed DEBUG log level to ROSDEBUG. +* initial catkin version on github diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CMakeLists.txt new file mode 100644 index 0000000..c525612 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.7.2) +project(rosserial_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation +) + +add_message_files(FILES + Log.msg + TopicInfo.msg +) + +add_service_files(FILES + RequestParam.srv +) + +generate_messages() + +catkin_package(CATKIN_DEPENDS + message_runtime +) diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg new file mode 100644 index 0000000..7239876 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg @@ -0,0 +1,10 @@ + +#ROS Logging Levels +uint8 ROSDEBUG=0 +uint8 INFO=1 +uint8 WARN=2 +uint8 ERROR=3 +uint8 FATAL=4 + +uint8 level +string msg diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg new file mode 100644 index 0000000..dafd6b0 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg @@ -0,0 +1,21 @@ +# special topic_ids +uint16 ID_PUBLISHER=0 +uint16 ID_SUBSCRIBER=1 +uint16 ID_SERVICE_SERVER=2 +uint16 ID_SERVICE_CLIENT=4 +uint16 ID_PARAMETER_REQUEST=6 +uint16 ID_LOG=7 +uint16 ID_TIME=10 +uint16 ID_TX_STOP=11 + +# The endpoint ID for this topic +uint16 topic_id + +string topic_name +string message_type + +# MD5 checksum for this message type +string md5sum + +# size of the buffer message must fit in +int32 buffer_size diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml new file mode 100644 index 0000000..9f8ac6d --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml @@ -0,0 +1,18 @@ + + rosserial_msgs + 0.9.2 + + Messages for automatic topic configuration using rosserial. + + Michael Ferguson + Paul Bouchier + Mike Purvis + BSD + http://ros.org/wiki/rosserial_msgs + + catkin + + message_generation + + message_runtime + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv new file mode 100644 index 0000000..ca605e8 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv @@ -0,0 +1,7 @@ +string name + +--- + +int32[] ints +float32[] floats +string[] strings diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CHANGELOG.rst b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CHANGELOG.rst new file mode 100644 index 0000000..e8d8efd --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CHANGELOG.rst @@ -0,0 +1,130 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rosserial_server +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.2 (2021-04-02) +------------------ +* Add python3-dev as build depend (`#544 `_) +* Contributors: Tobias Fischer + +0.9.1 (2020-09-09) +------------------ +* Add boost::thread dependency to rosserial_server (`#513 `_) +* Contributors: Mike Purvis + +0.9.0 (2020-08-25) +------------------ +* Only initialize embedded python interpreter once. (`#491 `_) +* Port 482 and 483 forward from Melodic branch (`#492 `_) +* Fix warning when using std_msgs/Empty (`#482 `_) +* Bump minimum CMake version to 3.7.2 (Melodic). +* Removed unused service client for message info service (`#481 `_) +* Call io_service.stop() when ros::ok() returns false (`#477 `_) +* Call Py_Finalize before throwing exception (`#476 `_) +* [Windows] use c++ signed trait to replace ssize_t for better portability. (`#463 `_) +* Port rosserial_server to Boost 1.71. (`#468 `_) +* rosserial_server: update install rules for binary targets (`#457 `_) +* Fix bug: assign the md5 for service (`#449 `_) +* Contributors: Hermann von Kleist, Johannes Meyer, Mike Purvis, Sean Yen, 趙　漠居(Zhao, Moju) + +0.8.0 (2018-10-11) +------------------ +* Fix compiling on boost > 1.66 (`#362 `_) + Reflective of changes made to boost::asio noted here: + http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html +* Contributors: Fan Jiang + +0.7.7 (2017-11-29) +------------------ +* Fix catkin lint errors (`#296 `_) +* Contributors: Bei Chen Liu + +0.7.6 (2017-03-01) +------------------ + +0.7.5 (2016-11-22) +------------------ +* Fixing build errors for boost >=1.60 (`#226 `_) (`#250 `_) +* Contributors: Malte Splietker + +0.7.4 (2016-09-21) +------------------ +* Use catkin_EXPORTED_TARGETS to avoid CMake warning (`#246 `_) +* Fix AsyncReadBuffer for UDP socket case. (`#245 `_) +* Contributors: Mike Purvis + +0.7.3 (2016-08-05) +------------------ +* Avoid runaway async condition when port is bad. (`#236 `_) +* Add missing install rule for udp_socket_node +* Make the ~require param configurable from Session. (`#233 `_) +* Contributors: Mike Purvis + +0.7.2 (2016-07-15) +------------------ +* Implementation of native UDP rosserial server. (`#231 `_) +* Explicit session lifecycle for the serial server. (`#228 `_) + This is a long overdue change which will resolve some crashes when + USB serial devices return error states in the face of noise or other + interruptions. +* Support for VER1 protocol has been dropped. +* Handle log messages in rosserial_server +* Contributors: Mike Purvis, mkrauter + +0.7.1 (2015-07-06) +------------------ + +0.7.0 (2015-04-23) +------------------ +* Fill out description field in package.xml. +* Bugfix for checksum. + Publishing topics fails when messages are over 256 bytes in length due to checksum() function or'ing high and low byte instead of adding them. +* rosserial_server: Properly receive messages > 255 bytes. +* Contributors: Chad Attermann, Mike Purvis + +0.6.3 (2014-11-05) +------------------ +* Add more log output, don't end the session for certain write errors. +* Contributors: Mike Purvis + +0.6.2 (2014-09-10) +------------------ +* Bugfix for interrupted sessions. + This is a two-part fix for an issue causes a segfault when the device + disappears during operation, for example a ttyACM device which is unplugged. + The AsyncReadBuffer part avoids calling a callback after the object + owning it has destructed, and the SerialSession part avoids recreating + itself until the previous instance has finished the destructor and been + full destroyed. +* Add dependency on rosserial_msgs_gencpp, fixes `#133 `_ +* Make ServiceClient::handle public, to fix compilation bug on some platforms. +* Enabled registration of service clients +* Add namespaces to headers, swap ROS thread to foreground. +* Move headers to include path, rename to follow ROS style. + +0.6.1 (2014-06-30) +------------------ + +0.6.0 (2014-06-11) +------------------ + +0.5.6 (2014-06-11) +------------------ +* Fixed build error due to variable being read as a function due to missing parenthesis +* Add rosserial_python as dependency of rosserial_server +* Contributors: Mike Purvis, spaghetti- + +0.5.5 (2014-01-14) +------------------ +* Add support for require/publishers and require/subscribers parameters. +* Use stream logging in rosserial_server + +0.5.4 (2013-10-17) +------------------ + +0.5.3 (2013-09-21) +------------------ +* New package: rosserial_server +* Contains example launch file for serial configuration of server +* Working now with both Groovy and Hydro clients. +* Subscriber to correctly declare known md5 and topic type from client. diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CMakeLists.txt new file mode 100644 index 0000000..6e57211 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.7.2) +project(rosserial_server) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rosserial_msgs + std_msgs + topic_tools +) + +find_package(Boost REQUIRED COMPONENTS + system + thread +) + +find_package(PythonLibs REQUIRED) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS + roscpp + rosserial_msgs + std_msgs + topic_tools + LIBRARIES ${PROJECT_NAME}_lookup +) + +include_directories( + include + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME}_lookup src/msg_lookup.cpp) +target_link_libraries(${PROJECT_NAME}_lookup ${PYTHON_LIBRARY}) +target_include_directories(${PROJECT_NAME}_lookup SYSTEM PRIVATE ${PYTHON_INCLUDE_DIR}) + +add_executable(${PROJECT_NAME}_serial_node src/serial_node.cpp) +target_link_libraries(${PROJECT_NAME}_serial_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_serial_node PROPERTIES OUTPUT_NAME serial_node PREFIX "") +add_dependencies(${PROJECT_NAME}_serial_node ${catkin_EXPORTED_TARGETS}) + +add_executable(${PROJECT_NAME}_socket_node src/socket_node.cpp) +target_link_libraries(${PROJECT_NAME}_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_socket_node PROPERTIES OUTPUT_NAME socket_node PREFIX "") +add_dependencies(${PROJECT_NAME}_socket_node ${catkin_EXPORTED_TARGETS}) + +add_executable(${PROJECT_NAME}_udp_socket_node src/udp_socket_node.cpp) +target_link_libraries(${PROJECT_NAME}_udp_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_udp_socket_node PROPERTIES OUTPUT_NAME udp_socket_node PREFIX "") +add_dependencies(${PROJECT_NAME}_udp_socket_node ${catkin_EXPORTED_TARGETS}) + +install( + TARGETS + ${PROJECT_NAME}_lookup + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + TARGETS + ${PROJECT_NAME}_serial_node + ${PROJECT_NAME}_socket_node + ${PROJECT_NAME}_udp_socket_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/async_read_buffer.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/async_read_buffer.h new file mode 100644 index 0000000..586fcae --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/async_read_buffer.h @@ -0,0 +1,204 @@ +/** + * + * \file + * \brief Helper object for successive reads from a ReadStream. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H +#define ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H + +#include +#include +#include + +#include + +// ssize_t is POSIX-only type. Use make_signed for portable code. +#include // size_t +#include // std::make_signed +typedef std::make_signed::type signed_size_t; + +namespace rosserial_server +{ + +template +class AsyncReadBuffer +{ +public: + AsyncReadBuffer(AsyncReadStream& s, size_t capacity, + boost::function error_callback) + : stream_(s), read_requested_bytes_(0), error_callback_(error_callback) { + reset(); + mem_.resize(capacity); + ROS_ASSERT_MSG(error_callback_, "Bad error callback passed to read buffer."); + } + + /** + * @brief Commands a fixed number of bytes from the buffer. This may be fulfilled from existing + * buffer content, or following a hardware read if required. + */ + void read(size_t requested_bytes, boost::function callback) { + ROS_DEBUG_STREAM_NAMED("async_read", "Buffer read of " << requested_bytes << " bytes, " << + "wi: " << write_index_ << ", ri: " << read_index_); + + ROS_ASSERT_MSG(read_requested_bytes_ == 0, "Bytes requested is nonzero, is there an operation already pending?"); + ROS_ASSERT_MSG(callback, "Bad read success callback function."); + read_success_callback_ = callback; + read_requested_bytes_ = requested_bytes; + + if (read_requested_bytes_ > mem_.size()) + { + // Insufficient room in the buffer for the requested bytes, + ROS_ERROR_STREAM_NAMED("async_read", "Requested to read " << read_requested_bytes_ << + " bytes, but buffer capacity is only " << mem_.size() << "."); + error_callback_(boost::system::errc::make_error_code(boost::system::errc::no_buffer_space)); + return; + } + + // Number of bytes which must be transferred to satisfy the request. + signed_size_t transfer_bytes = read_requested_bytes_ - bytesAvailable(); + + if (transfer_bytes > 0) + { + // If we don't have enough headroom in the buffer, we'll have to shift what's currently in there to make room. + if (bytesHeadroom() < transfer_bytes) + { + memmove(&mem_[0], &mem_[read_index_], bytesAvailable()); + write_index_ = bytesAvailable(); + read_index_ = 0; + } + + // Initiate a read from hardware so that we have enough bytes to fill the user request. + ROS_DEBUG_STREAM_NAMED("async_read", "Requesting transfer of at least " << transfer_bytes << " byte(s)."); + boost::asio::async_read(stream_, + boost::asio::buffer(&mem_[write_index_], bytesHeadroom()), + boost::asio::transfer_at_least(transfer_bytes), + boost::bind(&AsyncReadBuffer::callback, this, + boost::asio::placeholders::error, + boost::asio::placeholders::bytes_transferred)); + } + else + { + // We have enough in the buffer already, can fill the request without going to hardware. + callSuccessCallback(); + } + } + +private: + void reset() + { + read_index_ = 0; + write_index_ = 0; + } + + inline size_t bytesAvailable() + { + return write_index_ - read_index_; + } + + inline size_t bytesHeadroom() + { + return mem_.size() - write_index_; + } + + /** + * @brief The internal callback which is called by the boost::asio::async_read invocation + * in the public read method above. + */ + void callback(const boost::system::error_code& error, size_t bytes_transferred) + { + if (error) + { + read_requested_bytes_ = 0; + read_success_callback_.clear(); + ROS_DEBUG_STREAM_NAMED("async_read", "Read operation failed with: " << error); + + if (error == boost::asio::error::operation_aborted) + { + // Special case for operation_aborted. The abort callback comes when the owning Session + // is in the middle of teardown, which means the callback is no longer valid. + } + else + { + error_callback_(error); + } + return; + } + + write_index_ += bytes_transferred; + ROS_DEBUG_STREAM_NAMED("async_read", "Successfully read " << bytes_transferred << " byte(s), now " << bytesAvailable() << " available."); + callSuccessCallback(); + } + + /** + * @brief Calls the user's callback. This is a separate function because it gets called from two + * places, depending whether or not an actual HW read is required to fill the request. + */ + void callSuccessCallback() + { + ROS_DEBUG_STREAM_NAMED("async_read", "Invoking success callback with buffer of requested size " << + read_requested_bytes_ << " byte(s)."); + + ros::serialization::IStream stream(&mem_[read_index_], read_requested_bytes_); + read_index_ += read_requested_bytes_; + + // Post the callback rather than executing it here so, so that we have a chance to do the cleanup + // below prior to it actually getting run, in the event that the callback queues up another read. +#if BOOST_VERSION >= 107000 + boost::asio::post(stream_.get_executor(), boost::bind(read_success_callback_, stream)); +#else + stream_.get_io_service().post(boost::bind(read_success_callback_, stream)); +#endif + + // Resetting these values clears our state so that we know there isn't a callback pending. + read_requested_bytes_ = 0; + read_success_callback_.clear(); + + if (bytesAvailable() == 0) + { + ROS_DEBUG_STREAM_NAMED("async_read", "Buffer is empty, resetting indexes to the beginning."); + reset(); + } + } + + AsyncReadStream& stream_; + std::vector mem_; + + size_t write_index_; + size_t read_index_; + boost::function error_callback_; + + boost::function read_success_callback_; + size_t read_requested_bytes_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/msg_lookup.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/msg_lookup.h new file mode 100644 index 0000000..28e60b9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/msg_lookup.h @@ -0,0 +1,44 @@ +/** + * \author Mike Purvis + * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + */ + +#include +#include + +namespace rosserial_server +{ + +struct MsgInfo +{ + std::string md5sum; + std::string full_text; +}; + +const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule = "msg"); + +} // namespace rosserial_server diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/serial_session.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/serial_session.h new file mode 100644 index 0000000..2a0bc15 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/serial_session.h @@ -0,0 +1,118 @@ +/** + * + * \file + * \brief Single, reconnecting class for a serial rosserial session. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_SERIAL_SESSION_H +#define ROSSERIAL_SERVER_SERIAL_SESSION_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + +namespace rosserial_server +{ + +class SerialSession : public Session +{ +public: + SerialSession(boost::asio::io_service& io_service, std::string port, int baud) + : Session(io_service), port_(port), baud_(baud), timer_(io_service) + { + ROS_INFO_STREAM("rosserial_server session configured for " << port_ << " at " << baud << "bps."); + + failed_connection_attempts_ = 0; + check_connection(); + } + +private: + void check_connection() + { + if (!is_active()) + { + attempt_connection(); + } + + // Every second, check again if the connection should be reinitialized, + // if the ROS node is still up. + if (ros::ok()) + { + timer_.expires_from_now(boost::posix_time::milliseconds(2000)); + timer_.async_wait(boost::bind(&SerialSession::check_connection, this)); + } + else + { + shutdown(); + } + } + + void attempt_connection() + { + ROS_DEBUG("Opening serial port."); + + boost::system::error_code ec; + socket().open(port_, ec); + if (ec) { + failed_connection_attempts_++; + if (failed_connection_attempts_ == 1) { + ROS_ERROR_STREAM("Unable to open port " << port_ << ": " << ec); + } else { + ROS_DEBUG_STREAM("Unable to open port " << port_ << " (" << failed_connection_attempts_ << "): " << ec); + } + return; + } + ROS_INFO_STREAM("Opened " << port_); + failed_connection_attempts_ = 0; + + typedef boost::asio::serial_port_base serial; + socket().set_option(serial::baud_rate(baud_)); + socket().set_option(serial::character_size(8)); + socket().set_option(serial::stop_bits(serial::stop_bits::one)); + socket().set_option(serial::parity(serial::parity::none)); + socket().set_option(serial::flow_control(serial::flow_control::none)); + + // Kick off the session. + start(); + } + + std::string port_; + int baud_; + boost::asio::deadline_timer timer_; + int failed_connection_attempts_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_SERIAL_SESSION_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/session.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/session.h new file mode 100644 index 0000000..e7f8ab7 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/session.h @@ -0,0 +1,625 @@ +/** + * + * \file + * \brief Class representing a session between this node and a + * templated rosserial client. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_SESSION_H +#define ROSSERIAL_SERVER_SESSION_H + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "rosserial_server/async_read_buffer.h" +#include "rosserial_server/topic_handlers.h" + +namespace rosserial_server +{ + + typedef std::vector Buffer; + typedef boost::shared_ptr BufferPtr; + + template + class Session : boost::noncopyable + { + public: + Session(boost::asio::io_service &io_service) + : io_service_(io_service), + socket_(io_service), + sync_timer_(io_service), + require_check_timer_(io_service), + ros_spin_timer_(io_service), + async_read_buffer_(socket_, buffer_max, + boost::bind(&Session::read_failed, this, + boost::asio::placeholders::error)) + { + active_ = false; + + timeout_interval_ = boost::posix_time::milliseconds(5000); + attempt_interval_ = boost::posix_time::milliseconds(1000); + require_check_interval_ = boost::posix_time::milliseconds(1000); + ros_spin_interval_ = boost::posix_time::milliseconds(10); + require_param_name_ = "~require"; + + unrecognised_topic_retry_threshold_ = ros::param::param("~unrecognised_topic_retry_threshold", 0); + + nh_.setCallbackQueue(&ros_callback_queue_); + + // Intermittent callback to service ROS callbacks. To avoid polling like this, + // CallbackQueue could in the future be extended with a scheme to monitor for + // callbacks on another thread, and then queue them up to be executed on this one. + ros_spin_timer_.expires_from_now(ros_spin_interval_); + ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, + boost::asio::placeholders::error)); + } + + Socket &socket() + { + return socket_; + } + + void start() + { + ROS_DEBUG("Starting session."); + + callbacks_[rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_publisher, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_subscriber, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_service_client_publisher, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_service_client_subscriber, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_LOG] = boost::bind(&Session::handle_log, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_TIME] = boost::bind(&Session::handle_time, this, _1); + + active_ = true; + attempt_sync(); + read_sync_header(); + } + + void stop() + { + std::cout << "Sending Tx Stop Request..." << std::endl; + uint8_t overhead_bytes = 8; + uint16_t length = overhead_bytes; + BufferPtr buffer_ptr(new Buffer(length)); + ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); + stream << (uint16_t)0xfeff << (uint16_t)0x0000 << (uint16_t)0x0bff << (uint16_t)0xf400; + boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), + boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); + std::cout << "Stop..." << std::endl; + + // Abort any pending ROS callbacks. + ros_callback_queue_.clear(); + + // Abort active session timer callbacks, if present. + sync_timer_.cancel(); + require_check_timer_.cancel(); + + // Reset the state of the session, dropping any publishers or subscribers + // we currently know about from this client. + callbacks_.clear(); + subscribers_.clear(); + publishers_.clear(); + services_.clear(); + + // Close the socket. + socket_.close(); + active_ = false; + } + + void shutdown() + { + if (is_active()) + { + stop(); + } + io_service_.stop(); + } + + bool is_active() + { + return active_; + } + + /** + * This is to set the name of the required topics parameter from the + * default of ~require. You might want to do this to avoid a conflict + * with something else in that namespace, or because you're embedding + * multiple instances of rosserial_server in a single process. + */ + void set_require_param(std::string param_name) + { + require_param_name_ = param_name; + } + + private: + /** + * Periodic function which handles calling ROS callbacks, executed on the same + * io_service thread to avoid a concurrency nightmare. + */ + void ros_spin_timeout(const boost::system::error_code &error) + { + ros_callback_queue_.callAvailable(); + + if (ros::ok()) + { + // Call again next interval. + ros_spin_timer_.expires_from_now(ros_spin_interval_); + ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, + boost::asio::placeholders::error)); + } + else + { + shutdown(); + } + } + + //// RECEIVING MESSAGES //// + // TODO: Total message timeout, implement primarily in ReadBuffer. + + void read_sync_header() + { + async_read_buffer_.read(1, boost::bind(&Session::read_sync_first, this, _1)); + } + + void read_sync_first(ros::serialization::IStream &stream) + { + uint8_t sync; + stream >> sync; + if (sync == 0xff) + { + async_read_buffer_.read(1, boost::bind(&Session::read_sync_second, this, _1)); + } + else + { + read_sync_header(); + } + } + + void read_sync_second(ros::serialization::IStream &stream) + { + uint8_t sync; + stream >> sync; + if (sync == 0xfe) + { + async_read_buffer_.read(5, boost::bind(&Session::read_id_length, this, _1)); + } + else + { + read_sync_header(); + } + } + + void read_id_length(ros::serialization::IStream &stream) + { + uint16_t topic_id, length; + uint8_t length_checksum; + + // Check header checksum byte for length field. + stream >> length >> length_checksum; + if (length_checksum + checksum(length) != 0xff) + { + uint8_t csl = checksum(length); + ROS_WARN("Bad message header length checksum. Dropping message from client. T%d L%d C%d %d", topic_id, length, length_checksum, csl); + read_sync_header(); + return; + } + else + { + stream >> topic_id; + } + ROS_DEBUG("Received message header with length %d and topic_id=%d", length, topic_id); + + // Read message length + checksum byte. + async_read_buffer_.read(length + 1, boost::bind(&Session::read_body, this, + _1, topic_id)); + } + + void read_body(ros::serialization::IStream &stream, uint16_t topic_id) + { + ROS_DEBUG("Received body of length %d for message on topic %d.", stream.getLength(), topic_id); + + ros::serialization::IStream checksum_stream(stream.getData(), stream.getLength()); + uint8_t msg_checksum = checksum(checksum_stream) + checksum(topic_id); + + if (msg_checksum != 0xff) + { + ROS_WARN("Rejecting message on topicId=%d, length=%d with bad checksum.", topic_id, stream.getLength()); + } + else + { + if (callbacks_.count(topic_id) == 1) + { + try + { + // stream includes the check sum byte. + ros::serialization::IStream msg_stream(stream.getData(), stream.getLength() - 1); + callbacks_[topic_id](msg_stream); + } + catch (ros::serialization::StreamOverrunException e) + { + if (topic_id < 100) + { + ROS_ERROR("Buffer overrun when attempting to parse setup message."); + ROS_ERROR_ONCE("Is this firmware from a pre-Groovy rosserial?"); + } + else + { + ROS_WARN("Buffer overrun when attempting to parse user message."); + } + } + } + else + { + ROS_WARN("Received message with unrecognized topicId (%d).", topic_id); + + if ((unrecognised_topic_retry_threshold_ > 0) && ++unrecognised_topics_ >= unrecognised_topic_retry_threshold_) + { + // The threshold for unrecognised topics has been exceeded. + // Attempt to request the topics from the client again + ROS_WARN("Unrecognised topic threshold exceeded. Requesting topics from client"); + attempt_sync(); + unrecognised_topics_ = 0; + } + } + } + + // Kickoff next message read. + read_sync_header(); + } + + void read_failed(const boost::system::error_code &error) + { + if (error == boost::system::errc::no_buffer_space) + { + // No worries. Begin syncing on a new message. + ROS_WARN("Overrun on receive buffer. Attempting to regain rx sync."); + read_sync_header(); + } + else if (error) + { + // When some other read error has occurred, stop the session, which destroys + // all known publishers and subscribers. + ROS_WARN_STREAM("Socket asio error, closing socket: " << error); + stop(); + } + } + + //// SENDING MESSAGES //// + + void write_message(Buffer &message, const uint16_t topic_id) + { + uint8_t overhead_bytes = 8; + uint16_t length = overhead_bytes + message.size(); + BufferPtr buffer_ptr(new Buffer(length)); + + uint8_t msg_checksum; + ros::serialization::IStream checksum_stream(message.size() > 0 ? &message[0] : NULL, message.size()); + + ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); + uint8_t msg_len_checksum = 255 - checksum(message.size()); + stream << (uint16_t)0xfeff << (uint16_t)message.size() << msg_len_checksum << topic_id; + msg_checksum = 255 - (checksum(checksum_stream) + checksum(topic_id)); + + memcpy(stream.advance(message.size()), &message[0], message.size()); + stream << msg_checksum; + + ROS_DEBUG_NAMED("async_write", "Sending buffer of %d bytes to client.", length); + boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), + boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); + } + + void write_completion_cb(const boost::system::error_code &error, + BufferPtr buffer_ptr) + { + if (error) + { + if (error == boost::system::errc::io_error) + { + ROS_WARN_THROTTLE(1, "Socket write operation returned IO error."); + } + else if (error == boost::system::errc::no_such_device) + { + ROS_WARN_THROTTLE(1, "Socket write operation returned no device."); + } + else + { + ROS_WARN_STREAM_THROTTLE(1, "Unknown error returned during write operation: " << error); + } + stop(); + } + // Buffer is destructed when this function exits and buffer_ptr goes out of scope. + } + + //// SYNC WATCHDOG //// + void attempt_sync() + { + request_topics(); + set_sync_timeout(attempt_interval_); + } + + void set_sync_timeout(const boost::posix_time::time_duration &interval) + { + if (ros::ok()) + { + sync_timer_.cancel(); + sync_timer_.expires_from_now(interval); + sync_timer_.async_wait(boost::bind(&Session::sync_timeout, this, + boost::asio::placeholders::error)); + } + else + { + shutdown(); + } + } + + void sync_timeout(const boost::system::error_code &error) + { + if (error != boost::asio::error::operation_aborted) + { + ROS_DEBUG("Sync with device lost."); + stop(); + } + } + + //// HELPERS //// + void request_topics() + { + std::vector message(0); + ROS_DEBUG("Sending request topics message for VER2 protocol."); + write_message(message, rosserial_msgs::TopicInfo::ID_PUBLISHER); + + // Set timer for future point at which to verify the subscribers and publishers + // created by the client against the expected set given in the parameters. + require_check_timer_.expires_from_now(require_check_interval_); + require_check_timer_.async_wait(boost::bind(&Session::required_topics_check, this, + boost::asio::placeholders::error)); + } + + void required_topics_check(const boost::system::error_code &error) + { + if (error != boost::asio::error::operation_aborted) + { + if (ros::param::has(require_param_name_)) + { + if (!check_set(require_param_name_ + "/publishers", publishers_) || + !check_set(require_param_name_ + "/subscribers", subscribers_)) + { + ROS_WARN("Connected client failed to establish the publishers and subscribers dictated by require parameter. Re-requesting topics."); + request_topics(); + } + } + } + } + + template + bool check_set(std::string param_name, M map) + { + XmlRpc::XmlRpcValue param_list; + ros::param::get(param_name, param_list); + ROS_ASSERT(param_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + for (int i = 0; i < param_list.size(); ++i) + { + ROS_ASSERT(param_list[i].getType() == XmlRpc::XmlRpcValue::TypeString); + std::string required_topic((std::string(param_list[i]))); + // Iterate through map of registered topics, to ensure that this one is present. + bool found = false; + for (typename M::iterator j = map.begin(); j != map.end(); ++j) + { + if (nh_.resolveName(j->second->get_topic()) == + nh_.resolveName(required_topic)) + { + found = true; + ROS_INFO_STREAM("Verified connection to topic " << required_topic << ", given in parameter " << param_name); + break; + } + } + if (!found) + { + ROS_WARN_STREAM("Missing connection to topic " << required_topic << ", required by parameter " << param_name); + return false; + } + } + return true; + } + + static uint8_t checksum(ros::serialization::IStream &stream) + { + uint8_t sum = 0; + for (uint16_t i = 0; i < stream.getLength(); ++i) + { + sum += stream.getData()[i]; + } + return sum; + } + + static uint8_t checksum(uint16_t val) + { + return (val >> 8) + val; + } + + //// RECEIVED MESSAGE HANDLERS //// + + void setup_publisher(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + PublisherPtr pub(new Publisher(nh_, topic_info)); + callbacks_[topic_info.topic_id] = boost::bind(&Publisher::handle, pub, _1); + publishers_[topic_info.topic_id] = pub; + + set_sync_timeout(timeout_interval_); + } + + void setup_subscriber(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + SubscriberPtr sub(new Subscriber(nh_, topic_info, + boost::bind(&Session::write_message, this, _1, topic_info.topic_id))); + subscribers_[topic_info.topic_id] = sub; + + set_sync_timeout(timeout_interval_); + } + + // When the rosserial client creates a ServiceClient object (and/or when it registers that object with the NodeHandle) + // it creates a publisher (to publish the service request message to us) and a subscriber (to receive the response) + // the service client callback is attached to the *subscriber*, so when we receive the service response + // and wish to send it over the socket to the client, + // we must attach the topicId that came from the service client subscriber message + + void setup_service_client_publisher(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + if (!services_.count(topic_info.topic_name)) + { + ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); + ServiceClientPtr srv(new ServiceClient( + nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); + services_[topic_info.topic_name] = srv; + callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); + } + if (services_[topic_info.topic_name]->getRequestMessageMD5() != topic_info.md5sum) + { + ROS_WARN("Service client setup: Request message MD5 mismatch between rosserial client and ROS"); + } + else + { + ROS_DEBUG("Service client %s: request message MD5 successfully validated as %s", + topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); + } + set_sync_timeout(timeout_interval_); + } + + void setup_service_client_subscriber(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + if (!services_.count(topic_info.topic_name)) + { + ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); + ServiceClientPtr srv(new ServiceClient( + nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); + services_[topic_info.topic_name] = srv; + callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); + } + // see above comment regarding the service client callback for why we set topic_id here + services_[topic_info.topic_name]->setTopicId(topic_info.topic_id); + if (services_[topic_info.topic_name]->getResponseMessageMD5() != topic_info.md5sum) + { + ROS_WARN("Service client setup: Response message MD5 mismatch between rosserial client and ROS"); + } + else + { + ROS_DEBUG("Service client %s: response message MD5 successfully validated as %s", + topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); + } + set_sync_timeout(timeout_interval_); + } + + void handle_log(ros::serialization::IStream &stream) + { + rosserial_msgs::Log l; + ros::serialization::Serializer::read(stream, l); + if (l.level == rosserial_msgs::Log::ROSDEBUG) + ROS_DEBUG("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::INFO) + ROS_INFO("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::WARN) + ROS_WARN("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::ERROR) + ROS_ERROR("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::FATAL) + ROS_FATAL("%s", l.msg.c_str()); + } + + void handle_time(ros::serialization::IStream &stream) + { + std_msgs::Time time; + time.data = ros::Time::now(); + + size_t length = ros::serialization::serializationLength(time); + std::vector message(length); + + ros::serialization::OStream ostream(&message[0], length); + ros::serialization::Serializer::write(ostream, time); + + write_message(message, rosserial_msgs::TopicInfo::ID_TIME); + + // The MCU requesting the time from the server is the sync notification. This + // call moves the timeout forward. + set_sync_timeout(timeout_interval_); + } + + boost::asio::io_service &io_service_; + Socket socket_; + AsyncReadBuffer async_read_buffer_; + enum + { + buffer_max = 1023 + }; + bool active_; + + ros::NodeHandle nh_; + ros::CallbackQueue ros_callback_queue_; + + boost::posix_time::time_duration timeout_interval_; + boost::posix_time::time_duration attempt_interval_; + boost::posix_time::time_duration require_check_interval_; + boost::posix_time::time_duration ros_spin_interval_; + boost::asio::deadline_timer sync_timer_; + boost::asio::deadline_timer require_check_timer_; + boost::asio::deadline_timer ros_spin_timer_; + std::string require_param_name_; + int unrecognised_topic_retry_threshold_{0}; + int unrecognised_topics_{0}; + + std::map> callbacks_; + std::map publishers_; + std::map subscribers_; + std::map services_; + }; + +} // namespace + +#endif // ROSSERIAL_SERVER_SESSION_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/tcp_server.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/tcp_server.h new file mode 100644 index 0000000..1dff9c5 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/tcp_server.h @@ -0,0 +1,92 @@ +/** + * + * \file + * \brief TCP server for rosserial + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_TCP_SERVER_H +#define ROSSERIAL_SERVER_TCP_SERVER_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::tcp; + +template< typename Session = rosserial_server::Session > +class TcpServer +{ +public: + TcpServer(boost::asio::io_service& io_service, short port) + : io_service_(io_service), + acceptor_(io_service, tcp::endpoint(tcp::v4(), port)) + { + start_accept(); + } + +private: + void start_accept() + { + Session* new_session = new Session(io_service_); + acceptor_.async_accept(new_session->socket(), + boost::bind(&TcpServer::handle_accept, this, new_session, + boost::asio::placeholders::error)); + } + + void handle_accept(Session* new_session, + const boost::system::error_code& error) + { + if (!error) + { + new_session->start(); + } + else + { + delete new_session; + } + + start_accept(); + } + + boost::asio::io_service& io_service_; + tcp::acceptor acceptor_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_TCP_SERVER_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/topic_handlers.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/topic_handlers.h new file mode 100644 index 0000000..737adb5 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/topic_handlers.h @@ -0,0 +1,195 @@ +/** + * + * \file + * \brief Classes which manage the Publish and Subscribe relationships + * that a Session has with its client. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_TOPIC_HANDLERS_H +#define ROSSERIAL_SERVER_TOPIC_HANDLERS_H + +#include +#include +#include +#include + +namespace rosserial_server +{ + +class Publisher { +public: + Publisher(ros::NodeHandle& nh, const rosserial_msgs::TopicInfo& topic_info) { + rosserial_server::MsgInfo msginfo; + try + { + msginfo = lookupMessage(topic_info.message_type); + } + catch (const std::exception& e) + { + ROS_WARN_STREAM("Unable to look up message: " << e.what()); + } + + if (!msginfo.md5sum.empty() && msginfo.md5sum != topic_info.md5sum) + { + ROS_WARN_STREAM("Message" << topic_info.message_type << "MD5 sum from client does not " + "match that in system. Will avoid using system's message definition."); + msginfo.full_text = ""; + } + message_.morph(topic_info.md5sum, topic_info.message_type, msginfo.full_text, "false"); + publisher_ = message_.advertise(nh, topic_info.topic_name, 1); + } + + void handle(ros::serialization::IStream stream) { + ros::serialization::Serializer::read(stream, message_); + publisher_.publish(message_); + } + + std::string get_topic() { + return publisher_.getTopic(); + } + +private: + ros::Publisher publisher_; + topic_tools::ShapeShifter message_; +}; + +typedef boost::shared_ptr PublisherPtr; + + +class Subscriber { +public: + Subscriber(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, + boost::function& buffer)> write_fn) + : write_fn_(write_fn) { + ros::SubscribeOptions opts; + opts.init( + topic_info.topic_name, 1, boost::bind(&Subscriber::handle, this, _1)); + opts.md5sum = topic_info.md5sum; + opts.datatype = topic_info.message_type; + subscriber_ = nh.subscribe(opts); + } + + std::string get_topic() { + return subscriber_.getTopic(); + } + +private: + void handle(const boost::shared_ptr& msg) { + size_t length = ros::serialization::serializationLength(*msg); + std::vector buffer(length); + + ros::serialization::OStream ostream(&buffer[0], length); + ros::serialization::Serializer::write(ostream, *msg); + + write_fn_(buffer); + } + + ros::Subscriber subscriber_; + boost::function& buffer)> write_fn_; +}; + +typedef boost::shared_ptr SubscriberPtr; + +class ServiceClient { +public: + ServiceClient(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, + boost::function& buffer, const uint16_t topic_id)> write_fn) + : write_fn_(write_fn) { + topic_id_ = -1; + + rosserial_server::MsgInfo srvinfo; + rosserial_server::MsgInfo reqinfo; + rosserial_server::MsgInfo respinfo; + try + { + srvinfo = lookupMessage(topic_info.message_type, "srv"); + reqinfo = lookupMessage(topic_info.message_type + "Request", "srv"); + respinfo = lookupMessage(topic_info.message_type + "Response", "srv"); + } + catch (const std::exception& e) + { + ROS_WARN_STREAM("Unable to look up service definition: " << e.what()); + } + service_md5_ = srvinfo.md5sum; + request_message_md5_ = reqinfo.md5sum; + response_message_md5_ = respinfo.md5sum; + + ros::ServiceClientOptions opts; + opts.service = topic_info.topic_name; + opts.md5sum = srvinfo.md5sum; + opts.persistent = false; // always false for now + service_client_ = nh.serviceClient(opts); + } + void setTopicId(uint16_t topic_id) { + topic_id_ = topic_id; + } + std::string getServiceMD5() { + return service_md5_; + } + std::string getRequestMessageMD5() { + return request_message_md5_; + } + std::string getResponseMessageMD5() { + return response_message_md5_; + } + + void handle(ros::serialization::IStream stream) { + // deserialize request message + ros::serialization::Serializer::read(stream, request_message_); + + // perform service call + // note that at present, at least for rosserial-windows a service call returns nothing, + // so we discard the return value of this call() invocation. + service_client_.call(request_message_, response_message_, service_md5_); + + // write service response over the wire + size_t length = ros::serialization::serializationLength(response_message_); + std::vector buffer(length); + ros::serialization::OStream ostream(&buffer[0], length); + ros::serialization::Serializer::write(ostream, response_message_); + write_fn_(buffer,topic_id_); + } + +private: + topic_tools::ShapeShifter request_message_; + topic_tools::ShapeShifter response_message_; + ros::ServiceClient service_client_; + boost::function& buffer, const uint16_t topic_id)> write_fn_; + std::string service_md5_; + std::string request_message_md5_; + std::string response_message_md5_; + uint16_t topic_id_; +}; + +typedef boost::shared_ptr ServiceClientPtr; + +} // namespace + +#endif // ROSSERIAL_SERVER_TOPIC_HANDLERS_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_socket_session.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_socket_session.h new file mode 100644 index 0000000..6e38dae --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_socket_session.h @@ -0,0 +1,94 @@ +/** + * + * \file + * \brief Reconnecting class for a UDP rosserial session. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H +#define ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" +#include "rosserial_server/udp_stream.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::udp; + +class UdpSocketSession : public Session +{ +public: + UdpSocketSession(boost::asio::io_service& io_service, + udp::endpoint server_endpoint, + udp::endpoint client_endpoint) + : Session(io_service), timer_(io_service), + server_endpoint_(server_endpoint), client_endpoint_(client_endpoint) + { + ROS_INFO_STREAM("rosserial_server UDP session created between " << server_endpoint << " and " << client_endpoint); + check_connection(); + } + +private: + void check_connection() + { + if (!is_active()) + { + socket().open(server_endpoint_, client_endpoint_); + start(); + } + + // Every second, check again if the connection should be reinitialized, + // if the ROS node is still up. + if (ros::ok()) + { + timer_.expires_from_now(boost::posix_time::milliseconds(2000)); + timer_.async_wait(boost::bind(&UdpSocketSession::check_connection, this)); + } + else + { + shutdown(); + } + } + + boost::asio::deadline_timer timer_; + udp::endpoint server_endpoint_; + udp::endpoint client_endpoint_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_stream.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_stream.h new file mode 100644 index 0000000..30034cb --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_stream.h @@ -0,0 +1,133 @@ +/** + * + * \file + * \brief Adapter which allows a single-ended UDP connection to + * present the stream interface. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_UDP_STREAM_H +#define ROSSERIAL_SERVER_UDP_STREAM_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::udp; +#if BOOST_VERSION < 107000 +using boost::asio::handler_type; +#endif + + +class UdpStream : public udp::socket +{ +public: + explicit UdpStream(boost::asio::io_service& io_service) : udp::socket(io_service) + { + } + + void open(udp::endpoint server_endpoint, udp::endpoint client_endpoint) + { + boost::system::error_code ec; + const protocol_type protocol = server_endpoint.protocol(); + + udp::socket::open(protocol, ec); + boost::asio::detail::throw_error(ec, "open"); + + udp::socket::bind(server_endpoint, ec); + boost::asio::detail::throw_error(ec, "bind"); + + client_endpoint_ = client_endpoint; + } + + template + BOOST_ASIO_INITFN_RESULT_TYPE(WriteHandler, + void (boost::system::error_code, std::size_t)) + async_write_some(const ConstBufferSequence& buffers, + BOOST_ASIO_MOVE_ARG(WriteHandler) handler) + { + // If you get an error on the following line it means that your handler does + // not meet the documented type requirements for a WriteHandler. + BOOST_ASIO_WRITE_HANDLER_CHECK(WriteHandler, handler) type_check; +#if (BOOST_VERSION >= 106600) + // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html + boost::asio::async_completion init(handler); + + udp::socket::async_send_to( + buffers, client_endpoint_, 0, init.completion_handler); + + return init.result.get(); +#else + return this->get_service().async_send_to( + this->get_implementation(), buffers, client_endpoint_, 0, + BOOST_ASIO_MOVE_CAST(WriteHandler)(handler)); +#endif + } + + template + BOOST_ASIO_INITFN_RESULT_TYPE(ReadHandler, + void (boost::system::error_code, std::size_t)) + async_read_some(const MutableBufferSequence& buffers, + BOOST_ASIO_MOVE_ARG(ReadHandler) handler) + { + // If you get an error on the following line it means that your handler does + // not meet the documented type requirements for a ReadHandler. + BOOST_ASIO_READ_HANDLER_CHECK(ReadHandler, handler) type_check; +#if (BOOST_VERSION >= 106600) + // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html + boost::asio::async_completion init(handler); + + udp::socket::async_receive( + buffers, 0, init.completion_handler); + + return init.result.get(); +#else + return this->get_service().async_receive_from( + this->get_implementation(), buffers, client_endpoint_, 0, + BOOST_ASIO_MOVE_CAST(ReadHandler)(handler)); +#endif + } + +private: + udp::endpoint client_endpoint_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_UDP_STREAM_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/serial.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/serial.launch new file mode 100644 index 0000000..8928429 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/serial.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/socket.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/socket.launch new file mode 100644 index 0000000..cde949c --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/socket.launch @@ -0,0 +1,3 @@ + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/stm32.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/stm32.launch new file mode 100644 index 0000000..81d1db9 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/stm32.launch @@ -0,0 +1,12 @@ + + + + + + + require: + publishers: [ robot_velocity ] + subscribers: [ ] + + + \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/udp_socket.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/udp_socket.launch new file mode 100644 index 0000000..9b79aed --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/udp_socket.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/package.xml b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/package.xml new file mode 100644 index 0000000..df73c39 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/package.xml @@ -0,0 +1,23 @@ + + + rosserial_server + 0.9.2 + + A more performance- and stability-oriented server alternative implemented + in C++ to rosserial_python. + + + Mike Purvis + Mike Purvis + + BSD + + catkin + rosserial_msgs + std_msgs + roscpp + topic_tools + python3-dev + libboost-thread-dev + libboost-thread + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/msg_lookup.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/msg_lookup.cpp new file mode 100644 index 0000000..b2c0e23 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/msg_lookup.cpp @@ -0,0 +1,102 @@ +/** + * \author Mike Purvis + * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + */ + +#include "rosserial_server/msg_lookup.h" +#include "Python.h" + +namespace rosserial_server +{ + +const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule) +{ + // Lazy-initialize the embedded Python interpreter. Avoid calling the corresponding + // finalize method due to issues with importing cyaml in the second instance. The + // total memory cost of having this in-process is only about 5-6MB. + Py_Initialize(); + + MsgInfo msginfo; + size_t slash_pos = message_type.find('/'); + if (slash_pos == std::string::npos) + { + throw std::runtime_error("Passed message type string does not include a slash character."); + } + std::string module_name = message_type.substr(0, slash_pos); + std::string class_name = message_type.substr(slash_pos + 1, std::string::npos); + + PyObject* module = PyImport_ImportModule((module_name + "." + submodule).c_str()); + if (!module) + { + throw std::runtime_error("Unable to import message module " + module_name + "."); + } + PyObject* msg_class = PyObject_GetAttrString(module, class_name.c_str()); + if (!msg_class) + { + throw std::runtime_error("Unable to find message class " + class_name + + " in module " + module_name + "."); + } + Py_XDECREF(module); + + PyObject* full_text = PyObject_GetAttrString(msg_class, "_full_text"); + PyObject* md5sum = PyObject_GetAttrString(msg_class, "_md5sum"); + if (!md5sum) + { + throw std::runtime_error("Class for message " + message_type + " did not contain" + + "expected _md5sum attribute."); + } + Py_XDECREF(msg_class); + +#if PY_VERSION_HEX > 0x03000000 + if (full_text) + { + msginfo.full_text.assign(PyUnicode_AsUTF8(full_text)); + } + msginfo.md5sum.assign(PyUnicode_AsUTF8(md5sum)); +#else + if (full_text) + { + msginfo.full_text.assign(PyString_AsString(full_text)); + } + msginfo.md5sum.assign(PyString_AsString(md5sum)); +#endif + + // See https://github.com/ros/ros_comm/issues/344 + // and https://github.com/ros/gencpp/pull/14 + // Valid full_text returned, but it is empty, so insert single line + if (full_text && msginfo.full_text.empty()) + { + msginfo.full_text = "\n"; + } + + Py_XDECREF(full_text); + Py_XDECREF(md5sum); + + return msginfo; +} + +} // namespace rosserial_server diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/serial_node.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/serial_node.cpp new file mode 100644 index 0000000..8fcd890 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/serial_node.cpp @@ -0,0 +1,56 @@ +/** + * + * \file + * \brief Main entry point for the serial node. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/serial_session.h" + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_serial_node"); + + std::string port; + int baud; + ros::param::param("~port", port, "/dev/ttyACM0"); + ros::param::param("~baud", baud, 57600); + + boost::asio::io_service io_service; + rosserial_server::SerialSession serial_session(io_service, port, baud); + io_service.run(); + return 0; +} diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/socket_node.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/socket_node.cpp new file mode 100644 index 0000000..e803b6d --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/socket_node.cpp @@ -0,0 +1,56 @@ +/** + * + * \file + * \brief Main entry point for the socket server node. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/tcp_server.h" + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_socket_node"); + + int port; + ros::param::param("~port", port, 11411); + + boost::asio::io_service io_service; + rosserial_server::TcpServer<> tcp_server(io_service, port); + + ROS_INFO_STREAM("Listening for rosserial TCP connections on port " << port); + io_service.run(); + return 0; +} diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/udp_socket_node.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/udp_socket_node.cpp new file mode 100644 index 0000000..1ff7718 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/udp_socket_node.cpp @@ -0,0 +1,65 @@ +/** + * + * \file + * \brief Main entry point for the UDP socket server node. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/udp_socket_session.h" + +using boost::asio::ip::udp; +using boost::asio::ip::address; + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_udp_socket_node"); + + int server_port; + int client_port; + std::string client_addr; + ros::param::param("~server_port", server_port, 11411); + ros::param::param("~client_port", client_port, 11411); + ros::param::param("~client_addr", client_addr, "127.0.0.1"); + + boost::asio::io_service io_service; + rosserial_server::UdpSocketSession udp_socket_session( + io_service, + udp::endpoint(udp::v4(), server_port), + udp::endpoint(address::from_string(client_addr), client_port)); + io_service.run(); + + return 0; +} diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/CMakeLists.txt new file mode 100644 index 0000000..db04404 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(flask_esp8266) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES flask_esp8266 +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/flask_esp8266.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/flask_esp8266_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_flask_esp8266.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/package.xml b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/package.xml new file mode 100644 index 0000000..176331e --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/package.xml @@ -0,0 +1,68 @@ + + + flask_esp8266 + 0.0.0 + The flask_esp8266 package + + + + + root + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py new file mode 100644 index 0000000..9dcba8a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py @@ -0,0 +1,44 @@ + +#!/usr/bin/env python3 +import rospy +import requests +from std_msgs.msg import Int32 + +# 獲取按鈕按壓次數 +def fetch_button_press_count(): + try: + response = requests.get("http://192.168.50.140:5000/") # Flask 伺服器的主頁面 + if response.status_code == 200: + # 按照伺服器返回的格式解析按壓次數 + text = response.text + counts = text.split(", ") + button1_count = int(counts[0].split(": ")[1]) + button2_count = int(counts[1].split(": ")[1]) + return button1_count, button2_count + else: + rospy.logwarn(f"Failed to fetch button press count, status code: {response.status_code}") + return None, None + except requests.ConnectionError: + rospy.logwarn("Connection Error. Make sure the server is running.") + return None, None + +# 發佈按鈕按壓次數到 ROS topic +def publish_button_press_count(): + rospy.init_node('button_press_publisher', anonymous=True) + pub_button1 = rospy.Publisher('button1_press_count', Int32, queue_size=10) + pub_button2 = rospy.Publisher('button2_press_count', Int32, queue_size=10) + rate = rospy.Rate(20) # 每秒發佈 20 次，對應 50 毫秒 + + while not rospy.is_shutdown(): + button1_count, button2_count = fetch_button_press_count() + if button1_count is not None and button2_count is not None: + pub_button1.publish(button1_count) + pub_button2.publish(button2_count) + rospy.loginfo(f"Published button1 count: {button1_count}, button2 count: {button2_count}") + rate.sleep() + +if __name__ == "__main__": + try: + publish_button_press_count() + except rospy.ROSInterruptException: + pass diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/app.py b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/app.py new file mode 100644 index 0000000..a8e09b0 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/app.py @@ -0,0 +1,45 @@ +from flask import Flask, request # type: ignore +import json + +app = Flask(__name__) + +# 用於儲存每個按鈕的最新狀態 +button1_press_count = 0 # 累積按鈕按下的次數 +button2_press_count = 0 # 累積按鈕按下的次數 +button1_last = 0 +button2_last = 0 + +@app.route('/') +def home(): + return f"Button 1 press count: {button1_press_count}, Button 2 press count: {button2_press_count}" + +@app.route('/update_buttons', methods=['POST']) +def update_buttons(): + global button1_press_count, button2_press_count, button1_last, button2_last + try: + # 獲取並解析 JSON 數據 + data = request.get_json() + if data is None: + return "Invalid JSON", 400 + + button1_status = data.get("button1", 0) + button2_status = data.get("button2", 0) + + # 確保只有在按下時才計數，避免抖動 + if button1_status == 1 and button1_last == 0: + button1_press_count += 1 + if button2_status == 1 and button2_last == 0: + button2_press_count += 1 + + # 更新按鈕最後狀態 + button1_last = button1_status + button2_last = button2_status + + print(f"Received: {data}, Total Press Count 1: {button1_press_count}, Total Press Count 2: {button2_press_count}") + return "Button statuses updated", 200 + except Exception as e: + print(f"Error: {e}") + return "Internal Server Error", 500 + +if __name__ == '__main__': + app.run(host='0.0.0.0', port=5000) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh new file mode 100644 index 0000000..d37a90a --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh @@ -0,0 +1,18 @@ +# # download +# sudo apt-get update +# sudo apt-get install -y python3-pip +# echo "alias python=python3" >> ~/.bashrc +# source ~/.bashrc +# pip install Flask +# sudo apt-get --reinstall install python3-requests + +# # run python file +# cd src/flask_esp8266/src +# python app.py + +# # run ros file at another terminal + +# # cd /root/comm-ws && +# # source devel/setup.bash +# # python3 /root/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py + diff --git a/docker/local-ros2/OdomComm/comm-ws/src/run_test.sh b/docker/local-ros2/OdomComm/comm-ws/src/run_test.sh new file mode 100644 index 0000000..14e2341 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/src/run_test.sh @@ -0,0 +1,16 @@ +# start up +source /opt/ros/noetic/setup.bash + +# run +rostopic pub -1 /cmd_vel geometry_msgs/Twist '[0.3, 0.0, 0.0]' '[0.0, 0.0, 0.0]' & +# continue in 3 second +sleep 3 +# Ctrl+C +kill $! + +# stop +rostopic pub -1 /cmd_vel geometry_msgs/Twist '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]' & +# wait for 1 second +sleep 1 +# Ctrl+C +kill $! diff --git a/docker/local-ros2/OdomComm/comm-ws/start_flash.sh b/docker/local-ros2/OdomComm/comm-ws/start_flash.sh new file mode 100644 index 0000000..81c16f1 --- /dev/null +++ b/docker/local-ros2/OdomComm/comm-ws/start_flash.sh @@ -0,0 +1,31 @@ +#!/bin/bash + +# 更新套件並安裝必要工具 +echo "Updating system and installing dependencies..." +sudo apt-get update +sudo apt-get install -y python3-pip +sudo apt-get --reinstall install python3-requests + +# 設定 Python3 別名 +echo "Setting alias for Python..." +if ! grep -q "alias python=python3" ~/.bashrc; then + echo "alias python=python3" >> ~/.bashrcc + source ~/.bashrc +fi + +# 安裝 Flask +echo "Installing Flask..." +pip install Flask + +# 啟動 ROS 環境 +echo "Sourcing ROS setup..." +source devel/setup.bash + +# 啟動 Flask 應用程式 +echo "Starting Flask app..." +cd src/flask_esp8266/src +python3 app.py & # 背景執行 Flask 應用程式 + +# 啟動按鈕狀態發布腳本 +echo "Starting button press publisher script..." +python3 /root/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py diff --git a/docker/local-ros2/OdomComm/docker/Dockerfile b/docker/local-ros2/OdomComm/docker/Dockerfile new file mode 100644 index 0000000..43a1026 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/Dockerfile @@ -0,0 +1,151 @@ +################################################################################################ +# - Base stage +# - This stage serves as the foundational stage for all other stages. +# - Base image: Ubuntu 22.04 Jammy Jellyfish +# - https://hub.docker.com/_/ubuntu/tags?page=1&name=22.04 +################################################################################################ + +FROM ubuntu:22.04 AS base + +LABEL org.opencontainers.image.authors="yuzhong1214@gmail.com" + +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale +ENV LC_ALL=en_US.UTF-8 +ENV LANG=en_US.UTF-8 + +SHELL ["/bin/bash", "-c"] + +# Add user +RUN useradd -ms /bin/bash user + +################################################################################################ +# - Build stage +# - In this stage, I will build ROS Humble and ros1-bridge from source. +# - Reference: +# - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html +# - https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html +################################################################################################ + +FROM base AS build + +# Install the required packages for the following command. +RUN apt-get update && \ + apt-get install -y \ + curl \ + locales \ + software-properties-common \ + lsb-release + +# Set locale. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale +RUN locale-gen en_US en_US.UTF-8 && \ + update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 + +# Add the ROS 2 apt repository. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#add-the-ros-2-apt-repository +RUN add-apt-repository universe && \ + curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null + +# Install development tools and ROS tools. +# Note that we declare noninteractive mode to avoid apt asking for user input. +# Additionally, install colcon from PyPI, rather than using apt packages. +# Reference: https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#install-development-tools-and-ros-tools +RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ + DEBIAN_FRONTEND=noninteractive apt-get install -y \ + build-essential \ + cmake \ + git \ + python3-flake8 \ + python3-flake8-blind-except \ + python3-flake8-builtins \ + python3-flake8-class-newline \ + python3-flake8-comprehensions \ + python3-flake8-deprecated \ + python3-flake8-docstrings \ + python3-flake8-import-order \ + python3-flake8-quotes \ + python3-pip \ + python3-pytest \ + python3-pytest-cov \ + python3-pytest-repeat \ + python3-pytest-rerunfailures \ + python3-rosdep \ + python3-setuptools \ + ros-dev-tools +RUN python3 -m pip install -U colcon-common-extensions vcstool + +# Create ros2_humble workspace, and clone all repositories from the list. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#get-ros-2-code +RUN mkdir -p /ros2_humble/src +WORKDIR /ros2_humble +RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src + +# Install dependencies. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-dependencies-using-rosdep +RUN rosdep init && \ + rosdep update && \ + rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" + +# Build the ros2_humble workspace. (This will take a few minutes) +# Note that we are using colcon build without the flag --symlink-install. +# This is because we will copy the built files from the build stage to the release stage. +# If we use the flag --symlink-install, the release stage will not be able to find the built files. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#build-the-code-in-the-workspace +RUN colcon build + +# Delete packages.ros.org from sources.list and remove conflicts packages manually. +# Removing those conflicts packages is necessary for install ros-core-dev. +# Here is the dicussion about this issue: https://github.com/j3soon/ros2-essentials/pull/9#discussion_r1375303858 +# Reference: +# - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#ros-2-via-debian-packages +# - https://github.com/osrf/docker_images/issues/635#issuecomment-1217505552 +RUN rm -rf /etc/apt/sources.list.d/ros2.list && \ + apt-get remove -y \ + python3-catkin-pkg \ + python3-catkin-pkg-modules + +# Install ROS 1 from Ubuntu packages. +# Reference: https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#install-ros-1-from-ubuntu-packages +RUN apt-get update && \ + apt-get install -y ros-core-dev + +# Build ros1_bridge from source. +# Reference: https://github.com/ros2/ros1_bridge/tree/3d5328dc21564d2130b4ded30afe5cd1c41cf033#building-the-bridge-from-source +RUN git clone https://github.com/ros2/ros1_bridge src/ros1_bridge +RUN source install/setup.bash && \ + colcon build --packages-select ros1_bridge --cmake-force-configure + +# Other configurations +COPY ./start-bridge.sh /start-bridge.sh +RUN chmod +x /start-bridge.sh + +CMD ["/bin/bash"] + +################################################################################################ +# - Release stage +# - In this stage, I will copy the built files from the build stage. +# This is useful for reducing the size of the image. +# - Reference: +# - https://docs.docker.com/build/building/multi-stage/ +################################################################################################ + +FROM base AS release + +# Install ROS core and packages with their dependencies. +RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ + DEBIAN_FRONTEND=noninteractive apt-get install -y \ + libspdlog-dev \ + python3-packaging \ + ros-core-dev + +# Copy files from host and build stage +COPY --from=build /ros2_humble/install /ros2_humble/install + +# Other configurations +COPY ./start-bridge.sh /start-bridge.sh +USER user +RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc + +WORKDIR / +CMD ["./start-bridge.sh"] \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml new file mode 100644 index 0000000..70c51ac --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -0,0 +1,73 @@ +services: + ros-core: + image: osrf/ros:noetic-desktop-full + container_name: ros-core + command: "rosmaster --core" + network_mode: host + stop_grace_period: 1s + healthcheck: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + test: /ros_entrypoint.sh bash -c "rostopic list || exit 1" + interval: 3s + timeout: 10s + retries: 5 + + ros1-bridge: + build: + context: . + target: release + image: pomelo925/ttennis-humble:communication + container_name: ros2-ros1-bridge-ws + stop_grace_period: 1s + depends_on: + ros-core: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + condition: service_healthy + command: ./start-bridge.sh + stdin_open: true + tty: true + network_mode: host + working_dir: / + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Direct Rendering Infrastructure + - /dev/dri:/dev/dri + # Shared Memory + - /dev/shm:/dev/shm + + ros1: + image: osrf/ros:noetic-desktop-full + container_name: ros1 + stdin_open: true + tty: true + network_mode: host + privileged: true + volumes: + - ../comm-ws:/root/comm-ws + - /dev/bus/usb:/dev/bus/usb + stop_grace_period: 1s + depends_on: + ros-core: + condition: service_healthy + command: /bin/bash -c " + chmod +x /root/comm-ws/devel/_setup_util.py && + find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; && + source /opt/ros/noetic/setup.bash && + source /root/comm-ws/devel/setup.bash && + cd /root/comm-ws && + sudo chmod 777 /dev/ttyACM0 && + roslaunch rosserial_server stm32.launch" + + # ros2: + # image: osrf/ros:humble-desktop-full + # container_name: ros2 + # stdin_open: true + # tty: true + # network_mode: host + # stop_grace_period: 1s + # volumes: + # # Shared Memory + # - /dev/shm:/dev/shm \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/docker/start-bridge.sh b/docker/local-ros2/OdomComm/docker/start-bridge.sh new file mode 100644 index 0000000..1cc90c5 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/start-bridge.sh @@ -0,0 +1,14 @@ +#!/bin/bash -e + +if [ $# = 1 ]; then + export ROS_MASTER_URI=$1 +else + export ROS_MASTER_URI=http://localhost:11311 +fi + +# Normally, sourcing the setup.bash file is sufficient to set up the ROS environment. +# However, the ros1_bridge package can't be found by ROS 2 even if we source the file. Manual sourcing is required. +source /ros2_humble/install/setup.bash +source /ros2_humble/install/ros1_bridge/share/ros1_bridge/local_setup.bash + +ros2 run ros1_bridge dynamic_bridge \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/pull_and_run.sh b/docker/local-ros2/OdomComm/pull_and_run.sh new file mode 100755 index 0000000..213ad95 --- /dev/null +++ b/docker/local-ros2/OdomComm/pull_and_run.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +## 0. clean container within same group +echo "=== [COMMUNICATION] Pull & Run ===" +echo "[COMMUNICATION] Remove Containers ..." +docker compose -p communication down --volumes --remove-orphans + +## 1. make scripts & library executable +find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. build image +echo "[COMMUNICATION] Pull Images ..." +docker pull pomelo925/ttennis-humble:communication + +## 4. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication up +# docker compose -p communication up -d \ No newline at end of file From e99717b63f2746e964cdfbe0e6d5114e075f7580 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 17 Jan 2025 20:43:56 +0800 Subject: [PATCH 026/184] Add: docker compose STM32 - ROS2 to use: ``` $ cd docker/local-ros2/OdomComm $ ./pull_and_run.sh ``` ros2 topic echo /odoo_googoogoo geometry_msgs/Twist --- docker/local-ros2/OdomComm/_run.sh | 2 +- docker/local-ros2/OdomComm/build_and_run.sh | 2 +- .../OdomComm/docker/Dockerfile-rosserial | 51 ++ .../OdomComm/docker/compose-serial.yaml | 29 + docker/local-ros2/OdomComm/docker/compose.yml | 35 +- .../docker/odometry/odometry/CMakeLists.txt | 212 ++++++ .../odometry/odometry/cfg/odometry_param.cfg | 29 + .../odometry/include/odometry/odometry.h | 80 +++ .../odometry/launch/odometry_comm.launch | 32 + .../docker/odometry/odometry/lib/odometry.cpp | 359 ++++++++++ .../docker/odometry/odometry/package.xml | 76 +++ .../odometry/param/odometry_comm.yaml | 32 + .../odometry/odometry/src/odometry_node.cpp | 29 + .../odometry/rosserial_msgs/CHANGELOG.rst | 105 +++ .../odometry/rosserial_msgs/CMakeLists.txt | 21 + .../odometry/rosserial_msgs/msg/Log.msg | 10 + .../odometry/rosserial_msgs/msg/TopicInfo.msg | 21 + .../odometry/rosserial_msgs/package.xml | 18 + .../rosserial_msgs/srv/RequestParam.srv | 7 + .../odometry/rosserial_server/CHANGELOG.rst | 130 ++++ .../odometry/rosserial_server/CMakeLists.txt | 77 +++ .../rosserial_server/async_read_buffer.h | 204 ++++++ .../include/rosserial_server/msg_lookup.h | 44 ++ .../include/rosserial_server/serial_session.h | 118 ++++ .../include/rosserial_server/session.h | 625 ++++++++++++++++++ .../include/rosserial_server/tcp_server.h | 92 +++ .../include/rosserial_server/topic_handlers.h | 195 ++++++ .../rosserial_server/udp_socket_session.h | 94 +++ .../include/rosserial_server/udp_stream.h | 133 ++++ .../rosserial_server/launch/serial.launch | 6 + .../rosserial_server/launch/socket.launch | 3 + .../rosserial_server/launch/udp_socket.launch | 9 + .../odometry/rosserial_server/package.xml | 23 + .../rosserial_server/src/msg_lookup.cpp | 102 +++ .../rosserial_server/src/serial_node.cpp | 56 ++ .../rosserial_server/src/socket_node.cpp | 56 ++ .../rosserial_server/src/udp_socket_node.cpp | 65 ++ docker/local-ros2/OdomComm/pull_and_run.sh | 2 +- docker/local-ros2/docker-compose.yaml | 1 + 39 files changed, 3174 insertions(+), 11 deletions(-) create mode 100644 docker/local-ros2/OdomComm/docker/Dockerfile-rosserial create mode 100644 docker/local-ros2/OdomComm/docker/compose-serial.yaml create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/CMakeLists.txt create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/include/odometry/odometry.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/lib/odometry.cpp create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/package.xml create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml create mode 100644 docker/local-ros2/OdomComm/docker/odometry/odometry/src/odometry_node.cpp create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/package.xml create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/serial.launch create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/socket.launch create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/package.xml create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp create mode 100644 docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp diff --git a/docker/local-ros2/OdomComm/_run.sh b/docker/local-ros2/OdomComm/_run.sh index e51df1b..9e82b64 100644 --- a/docker/local-ros2/OdomComm/_run.sh +++ b/docker/local-ros2/OdomComm/_run.sh @@ -2,7 +2,7 @@ ## 1. make scripts & library executable echo "=== [COMMUNICATION] ===" -find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; +find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \; ## 2. environment setup export DISPLAY=:0 diff --git a/docker/local-ros2/OdomComm/build_and_run.sh b/docker/local-ros2/OdomComm/build_and_run.sh index 010fb70..a77990a 100644 --- a/docker/local-ros2/OdomComm/build_and_run.sh +++ b/docker/local-ros2/OdomComm/build_and_run.sh @@ -6,7 +6,7 @@ echo "[COMMUNICATION] Remove Containers ..." docker compose -p communication down --volumes --remove-orphans ## 1. make scripts & library executable -find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; +find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \; ## 2. environment setup export DISPLAY=:0 diff --git a/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial b/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial new file mode 100644 index 0000000..1eda1ec --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial @@ -0,0 +1,51 @@ +################################################################################################ +# - Base stage +# - This stage serves as the foundational stage for all other stages. +# - Base image: OSRF ROS noetic Desktop Full +# - https://hub.docker.com/r/osrf/ros/tags?page=1&name=noetic-desktop-full +################################################################################################ + +FROM osrf/ros:noetic-desktop-full AS base + +LABEL org.opencontainers.image.authors="yoseph.huang@gmail.com" + +ARG USERNAME=user +ARG USER_UID=1000 +ARG USER_GID=$USER_UID + +SHELL ["/bin/bash", "-c"] + + +################################################################################################ +# - User Setup stage +# - In this stage, create a non-root user and configure passwordless sudo. +################################################################################################ + +FROM base AS user-setup + +## Create a non-root user +RUN groupadd --gid $USER_GID $USERNAME && \ + useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash && \ + apt-get update && \ + apt-get install -y sudo && \ + echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME && \ + chmod 0440 /etc/sudoers.d/$USERNAME && \ + rm -rf /var/lib/apt/lists/* + +FROM user-setup AS final + +USER ${USERNAME} +# COPY comm-ws /home/$USERNAME/comm-ws +RUN mkdir -p /home/$USERNAME/ws/src +COPY odometry /home/$USERNAME/ws/src/odometry + +# catkin_make +RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \ + rosdep update && \ + cd /home/$USERNAME/ws && \ + rosdep install -y -r -q --from-paths src --ignore-src --rosdistro noetic && \ + catkin_make" + +## Final configurations +USER $USERNAME +CMD ["/bin/bash"] \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/docker/compose-serial.yaml b/docker/local-ros2/OdomComm/docker/compose-serial.yaml new file mode 100644 index 0000000..f66f575 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/compose-serial.yaml @@ -0,0 +1,29 @@ +services: + ros1: + image: ros1:serial + container_name: ros1 + stdin_open: true + tty: true + network_mode: host + privileged: true + volumes: + # - ../comm-ws:/root/comm-ws + # - /dev/bus/usb:/dev/bus/usb + - /dev:/dev + stop_grace_period: 1s + # depends_on: + # ros-core: + # condition: service_healthy + # command: /bin/bash -c " + # chmod +x /root/comm-ws/devel/_setup_util.py && + # find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; && + # source /opt/ros/noetic/setup.bash && + # source /root/comm-ws/devel/setup.bash && + # cd /root/comm-ws && + # sudo chmod 777 /dev/ttyACM0 && + # roslaunch rosserial_server stm32.launch" + command: /bin/bash -c " + source /opt/ros/noetic/setup.bash && + source ~/ws/devel/setup.bash && + sudo chmod 777 /dev/ttyACM0 && + roslaunch odometry odometry_comm.launch" \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml index 70c51ac..bcc51a7 100644 --- a/docker/local-ros2/OdomComm/docker/compose.yml +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -39,27 +39,46 @@ services: - /dev/shm:/dev/shm ros1: - image: osrf/ros:noetic-desktop-full + image: ros1:serial container_name: ros1 stdin_open: true tty: true network_mode: host privileged: true volumes: - - ../comm-ws:/root/comm-ws - - /dev/bus/usb:/dev/bus/usb + - /dev:/dev stop_grace_period: 1s depends_on: ros-core: condition: service_healthy command: /bin/bash -c " - chmod +x /root/comm-ws/devel/_setup_util.py && - find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; && source /opt/ros/noetic/setup.bash && - source /root/comm-ws/devel/setup.bash && - cd /root/comm-ws && + source ~/ws/devel/setup.bash && sudo chmod 777 /dev/ttyACM0 && - roslaunch rosserial_server stm32.launch" + roslaunch odometry odometry_comm.launch" + + # ros1: + # image: osrf/ros:noetic-desktop-full + # container_name: ros1 + # stdin_open: true + # tty: true + # network_mode: host + # privileged: true + # volumes: + # - ../comm-ws:/root/comm-ws + # - /dev/bus/usb:/dev/bus/usb + # stop_grace_period: 1s + # depends_on: + # ros-core: + # condition: service_healthy + # command: /bin/bash -c " + # chmod +x /root/comm-ws/devel/_setup_util.py && + # find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; && + # source /opt/ros/noetic/setup.bash && + # source /root/comm-ws/devel/setup.bash && + # cd /root/comm-ws && + # sudo chmod 777 /dev/ttyACM0 && + # roslaunch rosserial_server stm32.launch" # ros2: # image: osrf/ros:humble-desktop-full diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/CMakeLists.txt b/docker/local-ros2/OdomComm/docker/odometry/odometry/CMakeLists.txt new file mode 100644 index 0000000..e45df10 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(odometry) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +generate_dynamic_reconfigure_options( + cfg/odometry_param.cfg +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES odometry +# CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/odometry_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +## -- Declare library -- ## +add_library(odometry lib/odometry.cpp) +target_link_libraries(odometry ${catkin_LIBRARIES}) +add_dependencies(odometry ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) + +## -- Build a nodes -- ## +add_executable(odometry_node src/odometry_node.cpp) +target_link_libraries(odometry_node odometry) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_odometry.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg b/docker/local-ros2/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg new file mode 100644 index 0000000..dca0f41 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg @@ -0,0 +1,29 @@ +#!/usr/bin/env python +PACKAGE = "odometry" +NAMESPACE = "odometry" +GENERATE_FILE = "odometry_param" + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t, str_t + +gen = ParameterGenerator() + +gen.add("publish", bool_t, 0, "To publish or not", True) +gen.add("twist_topic", str_t, 0, "Topic to subscribe odometry information", "/Toposition") +gen.add("odom_topic", str_t, 0, "Topic to publish odometry information", "/odom") + +gen.add("fixed_frame", str_t, 0, "Parent frame", "odom") +gen.add("target_frame", str_t, 0, "Child frame", "base_footprint") + +gen.add("covariance_x", double_t, 0, "Covariance x", 0.05, 0, 1) +gen.add("covariance_y", double_t, 0, "Covariance y", 0.05, 0, 1) +gen.add("covariance_z", double_t, 0, "Covariance z", 0.1, 0, 1) +gen.add("covariance_vx", double_t, 0, "Covariance vx", 0.1, 0, 1) +gen.add("covariance_vy", double_t, 0, "Covariance vy", 0.1, 0, 1) +gen.add("covariance_vz", double_t, 0, "Covariance vz", 0.2, 0, 1) + +gen.add("covariance_multi_vx", double_t, 0, "Covariance multiplican for vx", 0.5, 0, 9) +gen.add("covariance_multi_vy", double_t, 0, "Covariance multiplican for vy", 0.5, 0, 9) +gen.add("covariance_multi_vz", double_t, 0, "Covariance multiplican for vz", 0.5, 0, 9) + + +exit(gen.generate(PACKAGE, NAMESPACE, GENERATE_FILE)) diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/include/odometry/odometry.h b/docker/local-ros2/OdomComm/docker/odometry/odometry/include/odometry/odometry.h new file mode 100644 index 0000000..89fab9a --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/include/odometry/odometry.h @@ -0,0 +1,80 @@ +#pragma once + +#include "ros/ros.h" +#include "nav_msgs/Odometry.h" +#include "geometry_msgs/Twist.h" +#include "std_srvs/Empty.h" +#include "std_msgs/Float64.h" + +#include +#include +#include +#include "odometry/odometry_paramConfig.h" + +class Odometry { + +public : + + Odometry(ros::NodeHandle &nh, ros::NodeHandle &nh_local); + +private : + + /* Function - for initialize params */ + void Initialize(); + + /* Function - for update params */ + bool UpdateParams(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + + /* Function - for twist callback */ + void TwistCallback(const geometry_msgs::Twist::ConstPtr &msg); + + /* Function -> for geometry_msgs::Twist ( cmd_vel ) */ + void P_VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg); + + /* Function -> for geometry_msgs::TwistWithCovariance ( ekf_pose ) */ + void VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg); + + /* Function publish sth we need */ + void publish(); + + /* Function for dynamic configure callback */ + void DynamicParamCallback(odometry::odometry_paramConfig &config, uint32_t level); + + /* Function to set up dynamic configure function and server */ + void SetDynamicReconfigure(); + + /** -- Node Handles -- **/ + ros::NodeHandle nh_; + ros::NodeHandle nh_local_; + + /** -- Advertise -- **/ + ros::Subscriber twist_sub_; + ros::Subscriber vel_sub_; + ros::Publisher odom_pub_; + ros::ServiceServer param_srv_; // Service for update param ( call by other nodes ) + + /** -- Msgs to pub -- **/ + nav_msgs::Odometry odometry_output_; + nav_msgs::Odometry odometry_output_backup_; + double covariance_multi_[3]; // x, y, z + + /** -- Parameters -- **/ + bool p_active_; + bool p_publish_; + bool p_update_params_; + bool p_sub_from_nav_; + bool p_use_dynamic_reconf_; + bool p_use_stm_integral_; + + double p_covariance_; + double p_covariance_multi_; + + std::string p_fixed_frame_; + std::string p_target_frame_; + + std::string p_twist_topic_; + std::string p_odom_topic_; + +}; + + diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch b/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch new file mode 100644 index 0000000..4e40e2f --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + require: + publishers: [ odoo_googoogoo ] + subscribers: [ ] + + + + diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/lib/odometry.cpp b/docker/local-ros2/OdomComm/docker/odometry/odometry/lib/odometry.cpp new file mode 100644 index 0000000..ff8a1f6 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/lib/odometry.cpp @@ -0,0 +1,359 @@ +#include "odometry/odometry.h" + +Odometry::Odometry (ros::NodeHandle &nh, ros::NodeHandle &nh_local){ + + this->nh_ = nh; + this->nh_local_ = nh_local; + this->Initialize(); +} + +void Odometry::Initialize(){ + + std_srvs::Empty empty; + + this->p_active_ = false; + ROS_INFO_STREAM("[Odometry] : inactive node"); + + if(this->UpdateParams(empty.request, empty.response)){ + ROS_INFO_STREAM("[Odometry] : Initialize param ok"); + } + else { + ROS_INFO_STREAM("[Odometry] : Initialize param failed"); + } + +} + +bool Odometry::UpdateParams(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res){ + + bool prev_active = p_active_; + + double covariance[6]; + double multi_covariance[3]; + + /* get param */ + if(this->nh_local_.param("active", p_active_, true)){ + ROS_INFO_STREAM("[Odometry] : active set to " << p_active_); + } + + if(this->nh_local_.param("publish", p_publish_, true)){ + ROS_INFO_STREAM("[Odometry] : publish set to " << p_publish_); + } + + if(this->nh_local_.param("twist_topic", p_twist_topic_, "/Toposition")){ + ROS_INFO_STREAM("[Odometry] : Current subscribe topic [ " << p_twist_topic_ << " ]"); + } + + if(this->nh_local_.param("odom_topic", p_odom_topic_, "/odom")){ + ROS_INFO_STREAM("[Odometry] : Current publish topic [ " << p_odom_topic_ << " ]"); + } + + if(this->nh_local_.param("fixed_frame", p_fixed_frame_, "odom")){ + ROS_INFO_STREAM("[Odometry] : Current fixed frame [ " << p_fixed_frame_ << " ]"); + } + + if(this->nh_local_.param("target_frame", p_target_frame_, "base_footprint")){ + ROS_INFO_STREAM("[Odometry] : Current target frame [ " << p_target_frame_ << " ]"); + } + + if(this->nh_local_.param("update_params", p_update_params_, false)){ + ROS_INFO_STREAM("[Odometry] : update params set to " << p_update_params_); + } + + if(this->nh_local_.param("covariance_x", covariance[0], 0.)){ + ROS_INFO_STREAM("[Odometry] : x covariance set to " << covariance[0]); + this->odometry_output_.twist.covariance[0] = covariance[0]; + } + + if(this->nh_local_.param("covariance_y", covariance[1], 0.)){ + ROS_INFO_STREAM("[Odometry] : y covariance set to " << covariance[1]); + this->odometry_output_.twist.covariance[7] = covariance[1]; + } + + if(this->nh_local_.param("covariance_z", covariance[2], 0.)){ + ROS_INFO_STREAM("[Odometry] : z covariance set to " << covariance[2]); + this->odometry_output_.twist.covariance[14] = covariance[2]; + } + + if(this->nh_local_.param("covariance_vx", covariance[3], 0.)){ + ROS_INFO_STREAM("[Odometry] : vx covariance set to " << covariance[3]); + this->odometry_output_.twist.covariance[21] = covariance[3]; + } + + if(this->nh_local_.param("covariance_vy", covariance[4], 0.)){ + ROS_INFO_STREAM("[Odometry] : vy covariance set to " << covariance[4]); + this->odometry_output_.twist.covariance[28] = covariance[4]; + } + + if(this->nh_local_.param("covariance_vz", covariance[5], 0.)){ + ROS_INFO_STREAM("[Odometry] : vz covariance set to " << covariance[5]); + this->odometry_output_.twist.covariance[35] = covariance[5]; + } + + if(this->nh_local_.param("covariance_multi_vx", multi_covariance[0], 0.)){ + ROS_INFO_STREAM("[Odometry] : vx covariance multiplicant set to " << multi_covariance[0]); + covariance_multi_[0] = multi_covariance[0]; + } + + if(this->nh_local_.param("covariance_multi_vy", multi_covariance[1], 0.)){ + ROS_INFO_STREAM("[Odometry] : vy covariance multiplicant set to " << multi_covariance[1]); + covariance_multi_[1] = multi_covariance[1]; + } + + if(this->nh_local_.param("covariance_multi_vz", multi_covariance[2], 0.)){ + ROS_INFO_STREAM("[Odometry] : vz covariance multiplicant set to " << multi_covariance[2]); + covariance_multi_[2] = multi_covariance[2]; + } + + if(this->nh_local_.param("using_nav_vel_cb", p_sub_from_nav_, 0.)){ + ROS_INFO_STREAM("[Odometry] : current subscribe from nav cmd_vel is set to " << p_sub_from_nav_); + } + + if(this->nh_local_.param("using_dynamic_reconf", p_use_dynamic_reconf_, true)){ + ROS_INFO_STREAM("[Odometry] : using dynamic reconfigure is set to " << p_use_dynamic_reconf_); + } + + if(this->nh_local_.param("use_stm_integral", p_use_stm_integral_, true)){ + ROS_INFO_STREAM("[Odometry] : use stm integral " << p_use_stm_integral_); + } + + if(p_active_ != prev_active) { + + if (p_active_) { + + ROS_INFO_STREAM("[Odometry] : active node"); + this->twist_sub_ = nh_.subscribe(p_twist_topic_, 10, &Odometry::TwistCallback, this); + this->odom_pub_ = nh_.advertise(p_odom_topic_, 10); + + if(this->p_sub_from_nav_){ + this->vel_sub_ = nh_.subscribe("cmd_vel", 10, &Odometry::P_VelocityCallback, this); + } + else{ + this->vel_sub_ = nh_.subscribe("local_filter", 10, &Odometry::VelocityCallback, this); + } + + if(this->p_update_params_){ + this->param_srv_ = nh_local_.advertiseService("params", &Odometry::UpdateParams, this); + } + + if(this->p_use_dynamic_reconf_){ + this->SetDynamicReconfigure(); + } + + } + else { + this->twist_sub_.shutdown(); + this->odom_pub_.shutdown(); + this->vel_sub_.shutdown(); + + if(this->p_update_params_){ + this->param_srv_.shutdown(); + } + } + } + + + /* -- Backup covariance -- */ + this->odometry_output_backup_ = this->odometry_output_; + + /* -- Set basic variables -- */ + this->odometry_output_.header.frame_id = this->p_fixed_frame_; + this->odometry_output_.child_frame_id = this->p_target_frame_; + + return true; + +} + +void Odometry::TwistCallback(const geometry_msgs::Twist::ConstPtr &msg){ + + static unsigned int sequence = 0; + sequence++; + + this->odometry_output_.header.seq = sequence; + this->odometry_output_.header.stamp = ros::Time::now(); + + if(p_use_stm_integral_){ + this->odometry_output_.pose.pose.position.x = msg->angular.x; + this->odometry_output_.pose.pose.position.y = msg->angular.y; + + tf2::Quaternion quaternion; + quaternion.setRPY(0, 0, msg->linear.z); + + this->odometry_output_.pose.pose.orientation = tf2::toMsg(quaternion); + } + + this->odometry_output_.twist.twist.linear.x = msg->linear.x; + this->odometry_output_.twist.twist.linear.y = msg->linear.y; + this->odometry_output_.twist.twist.angular.z = msg->angular.z; + this->odometry_output_.pose.covariance[0] = 0.1; + this->odometry_output_.pose.covariance[7] = 0.1; + this->odometry_output_.pose.covariance[14] = 0.1; + this->odometry_output_.pose.covariance[21] = 0.1; + this->odometry_output_.pose.covariance[28] = 0.1; + this->odometry_output_.pose.covariance[35] = 0.1; + + if(this->p_publish_) this->publish(); + +} + + +void Odometry::P_VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg){ + + double covariance_multi[3]; + + covariance_multi[0] = this->covariance_multi_[0] * abs(msg->twist.twist.linear.x); + covariance_multi[1] = this->covariance_multi_[1] * abs(msg->twist.twist.linear.y); + covariance_multi[2] = this->covariance_multi_[2] * abs(msg->twist.twist.angular.z); + + this->odometry_output_.twist.covariance[0] = std::max(0.00000001, covariance_multi[0] + this->odometry_output_backup_.twist.covariance[0]); + this->odometry_output_.twist.covariance[7] = std::max(0.00000001, covariance_multi[1] + this->odometry_output_backup_.twist.covariance[7]); + this->odometry_output_.twist.covariance[14] = std::max(0.00000001, covariance_multi[2]+ this->odometry_output_backup_.twist.covariance[14]); + this->odometry_output_.twist.covariance[21] = std::max(0.00000001, covariance_multi[0] + this->odometry_output_backup_.twist.covariance[21]); + this->odometry_output_.twist.covariance[28] = std::max(0.00000001, covariance_multi[1] + this->odometry_output_backup_.twist.covariance[28]); + this->odometry_output_.twist.covariance[35] = std::max(0.00000001, covariance_multi[2] + this->odometry_output_backup_.twist.covariance[35]); + +} + + +void Odometry::VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg){ + + boost::shared_ptr odometry_ptr(new nav_msgs::Odometry()); + + odometry_ptr->twist.twist.linear = msg->twist.twist.linear; + odometry_ptr->twist.twist.angular = msg->twist.twist.angular; + + this->P_VelocityCallback(odometry_ptr); + +} + +void Odometry::publish(){ + + this->odom_pub_.publish(this->odometry_output_); + +} + +void Odometry::DynamicParamCallback(odometry::odometry_paramConfig &config, uint32_t level){ + + /* get param */ + if(p_publish_ != config.publish){ + this->p_publish_ = config.publish; + ROS_INFO_STREAM("[Odometry] : publish set to " << p_publish_); + } + + if(p_twist_topic_ != config.twist_topic){ + + this->p_twist_topic_ = config.twist_topic; + + if(p_active_){ + this->twist_sub_ = nh_.subscribe(p_twist_topic_, 10, &Odometry::TwistCallback, this); + } + + ROS_INFO_STREAM("[Odometry] : Current subscribe topic [ " << p_twist_topic_ << " ]"); + } + + if(p_odom_topic_ != config.odom_topic){ + + this->p_odom_topic_ = config.odom_topic; + + if(p_active_){ + this->odom_pub_ = nh_.advertise(p_odom_topic_, 10); + } + + ROS_INFO_STREAM("[Odometry] : Current publish topic [ " << p_odom_topic_ << " ]"); + } + + if(p_fixed_frame_ != config.fixed_frame){ + + this->p_fixed_frame_ = config.fixed_frame; + this->odometry_output_.header.frame_id = this->p_fixed_frame_; + + ROS_INFO_STREAM("[Odometry] : Current fixed frame [ " << p_fixed_frame_ << " ]"); + } + + if(p_target_frame_ != config.target_frame){ + + this->p_target_frame_ = config.target_frame; + this->odometry_output_.child_frame_id = this->p_target_frame_; + + ROS_INFO_STREAM("[Odometry] : Current target frame [ " << p_target_frame_ << " ]"); + } + + if(this->odometry_output_backup_.twist.covariance[0] != config.covariance_x){ + + this->odometry_output_backup_.twist.covariance[0] = config.covariance_x; + + ROS_INFO_STREAM("[Odometry] : x covariance set to " << this->odometry_output_backup_.twist.covariance[0]); + } + + if(this->odometry_output_backup_.twist.covariance[7] != config.covariance_y){ + + this->odometry_output_backup_.twist.covariance[7] = config.covariance_y; + + ROS_INFO_STREAM("[Odometry] : y covariance set to " << this->odometry_output_backup_.twist.covariance[7]); + } + + if(this->odometry_output_backup_.twist.covariance[14] != config.covariance_z){ + + this->odometry_output_backup_.twist.covariance[14] = config.covariance_z; + + ROS_INFO_STREAM("[Odometry] : z covariance set to " << this->odometry_output_backup_.twist.covariance[14]); + } + + if(this->odometry_output_backup_.twist.covariance[21] != config.covariance_vx){ + + this->odometry_output_backup_.twist.covariance[21] = config.covariance_vx; + + ROS_INFO_STREAM("[Odometry] : vx covariance set to " << this->odometry_output_backup_.twist.covariance[21]); + } + + if(this->odometry_output_backup_.twist.covariance[28] != config.covariance_vy){ + + this->odometry_output_backup_.twist.covariance[28] = config.covariance_vy; + + ROS_INFO_STREAM("[Odometry] : vy covariance set to " << this->odometry_output_backup_.twist.covariance[28]); + } + + if(this->odometry_output_backup_.twist.covariance[35] != config.covariance_vz){ + + this->odometry_output_backup_.twist.covariance[35] = config.covariance_vz; + + ROS_INFO_STREAM("[Odometry] : vz covariance set to " << this->odometry_output_backup_.twist.covariance[35]); + } + + if(this->covariance_multi_[0] != config.covariance_multi_vx){ + + this->covariance_multi_[0] = config.covariance_multi_vx; + + ROS_INFO_STREAM("[Odometry] : vx covariance multiplicant set to " << this->covariance_multi_[0]); + } + + if(this->covariance_multi_[1] != config.covariance_multi_vy){ + + this->covariance_multi_[1] = config.covariance_multi_vy; + + ROS_INFO_STREAM("[Odometry] : vy covariance multiplicant set to " << this->covariance_multi_[1]); + } + + if(this->covariance_multi_[2] != config.covariance_multi_vz){ + + this->covariance_multi_[2] = config.covariance_multi_vz; + + ROS_INFO_STREAM("[Odometry] : vz covariance multiplicant set to " << this->covariance_multi_[2]); + } + + this->odometry_output_.twist.covariance = this->odometry_output_backup_.twist.covariance; + +} + +void Odometry::SetDynamicReconfigure(){ + + static dynamic_reconfigure::Server dynamic_param_srv_; + + dynamic_reconfigure::Server::CallbackType callback; + + // If the function is a class member : + // boost::bind(&function, class instance, _1, _2) + callback = boost::bind(&Odometry::DynamicParamCallback, this, _1, _2); + + // Set callback function to param server + dynamic_param_srv_.setCallback(callback); +} diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/package.xml b/docker/local-ros2/OdomComm/docker/odometry/odometry/package.xml new file mode 100644 index 0000000..6679d91 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/package.xml @@ -0,0 +1,76 @@ + + + odometry + 0.0.0 + The odometry package + + + + + assume + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure + + + + + + + + diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml b/docker/local-ros2/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml new file mode 100644 index 0000000..3144dda --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml @@ -0,0 +1,32 @@ +# Active this node +active: true + +# Set publish to this node +publish: true + +# Open param service +update_params: false + +# Covariance for "const" part +covariance_x: 0.0005 +covariance_y: 0.0005 +covariance_z: 0.01 +covariance_vx: 0.0005 +covariance_vy: 0.0005 +covariance_vz: 0.02 + +# Covariance for "multiple" part +covariance_multi_vx: 0.05 +covariance_multi_vy: 0.05 +covariance_multi_vz: 0.05 + +# Dynamic adjustment from : + # True: (ns)/cmd_vel + # False: (ns)/final_pose +using_nav_vel_cb: false + +# Open if STM has integral information +use_stm_integral: false + +# Open Dynamic reconfigure service +using_dynamic_reconf: false \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/src/odometry_node.cpp b/docker/local-ros2/OdomComm/docker/odometry/odometry/src/odometry_node.cpp new file mode 100644 index 0000000..2500ea2 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/src/odometry_node.cpp @@ -0,0 +1,29 @@ +#include "odometry/odometry.h" + +int main(int argc, char** argv){ + + ros::init(argc, argv, "odometry_node"); + + ros::NodeHandle nh(""); + ros::NodeHandle nh_local("~"); + + try { + + ROS_INFO_STREAM("[Odometry] : Initializing odometry"); + Odometry odometry(nh, nh_local); + ros::spin(); + + } + catch (const char* s) { + + ROS_FATAL_STREAM("[Odometry] : " << s); + + } + catch (...) { + + ROS_FATAL_STREAM("[Odometry] : Unexpected error"); + + } + + return 0; +} diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst new file mode 100644 index 0000000..ee8c98d --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst @@ -0,0 +1,105 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rosserial_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.2 (2021-04-02) +------------------ + +0.9.1 (2020-09-09) +------------------ + +0.9.0 (2020-08-25) +------------------ +* Fix Travis for Noetic + Python 3 +* Bump minimum CMake version to 3.7.2 (Melodic). +* Drop separate node for message service (`#446 `_) +* Contributors: Mike Purvis + +0.8.0 (2018-10-11) +------------------ + +0.7.7 (2017-11-29) +------------------ +* Fix catkin lint errors (`#296 `_) +* Contributors: Bei Chen Liu + +0.7.6 (2017-03-01) +------------------ + +0.7.5 (2016-11-22) +------------------ + +0.7.4 (2016-09-21) +------------------ + +0.7.3 (2016-08-05) +------------------ + +0.7.2 (2016-07-15) +------------------ + +0.7.1 (2015-07-06) +------------------ + +0.7.0 (2015-04-23) +------------------ + +0.6.3 (2014-11-05) +------------------ + +0.6.2 (2014-09-10) +------------------ + +0.6.1 (2014-06-30) +------------------ + +0.6.0 (2014-06-11) +------------------ +* Uncomment ID_TX_STOP constant, per `#111 `_ +* Contributors: Mike Purvis + +0.5.6 (2014-06-11) +------------------ +* Add Mike Purvis as maintainer to all but xbee. +* remove ID_TX_STOP from rosserial_msgs/msg/TopicInfo.msg, using hardcode modification. fix the dupilcated registration problem of subscriber +* modified rosserial +* Contributors: Mike Purvis, Moju Zhao + +0.5.5 (2014-01-14) +------------------ + +0.5.4 (2013-10-17) +------------------ + +0.5.3 (2013-09-21) +------------------ +* Add message info service and stub of node to provide it, for +rosserial_server support. + +0.5.2 (2013-07-17) +------------------ + +* Fix release version + +0.5.1 (2013-07-15) +------------------ + +0.4.5 (2013-07-02) +------------------ + +0.4.4 (2013-03-20) +------------------ + +0.4.3 (2013-03-13 14:08) +------------------------ + +0.4.2 (2013-03-13 01:15) +------------------------ + +0.4.1 (2013-03-09) +------------------ + +0.4.0 (2013-03-08) +------------------ +* Changed DEBUG log level to ROSDEBUG. +* initial catkin version on github diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt new file mode 100644 index 0000000..c525612 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.7.2) +project(rosserial_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation +) + +add_message_files(FILES + Log.msg + TopicInfo.msg +) + +add_service_files(FILES + RequestParam.srv +) + +generate_messages() + +catkin_package(CATKIN_DEPENDS + message_runtime +) diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg new file mode 100644 index 0000000..7239876 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg @@ -0,0 +1,10 @@ + +#ROS Logging Levels +uint8 ROSDEBUG=0 +uint8 INFO=1 +uint8 WARN=2 +uint8 ERROR=3 +uint8 FATAL=4 + +uint8 level +string msg diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg new file mode 100644 index 0000000..dafd6b0 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg @@ -0,0 +1,21 @@ +# special topic_ids +uint16 ID_PUBLISHER=0 +uint16 ID_SUBSCRIBER=1 +uint16 ID_SERVICE_SERVER=2 +uint16 ID_SERVICE_CLIENT=4 +uint16 ID_PARAMETER_REQUEST=6 +uint16 ID_LOG=7 +uint16 ID_TIME=10 +uint16 ID_TX_STOP=11 + +# The endpoint ID for this topic +uint16 topic_id + +string topic_name +string message_type + +# MD5 checksum for this message type +string md5sum + +# size of the buffer message must fit in +int32 buffer_size diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/package.xml b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/package.xml new file mode 100644 index 0000000..9f8ac6d --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/package.xml @@ -0,0 +1,18 @@ + + rosserial_msgs + 0.9.2 + + Messages for automatic topic configuration using rosserial. + + Michael Ferguson + Paul Bouchier + Mike Purvis + BSD + http://ros.org/wiki/rosserial_msgs + + catkin + + message_generation + + message_runtime + diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv new file mode 100644 index 0000000..ca605e8 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv @@ -0,0 +1,7 @@ +string name + +--- + +int32[] ints +float32[] floats +string[] strings diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst new file mode 100644 index 0000000..e8d8efd --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst @@ -0,0 +1,130 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rosserial_server +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.2 (2021-04-02) +------------------ +* Add python3-dev as build depend (`#544 `_) +* Contributors: Tobias Fischer + +0.9.1 (2020-09-09) +------------------ +* Add boost::thread dependency to rosserial_server (`#513 `_) +* Contributors: Mike Purvis + +0.9.0 (2020-08-25) +------------------ +* Only initialize embedded python interpreter once. (`#491 `_) +* Port 482 and 483 forward from Melodic branch (`#492 `_) +* Fix warning when using std_msgs/Empty (`#482 `_) +* Bump minimum CMake version to 3.7.2 (Melodic). +* Removed unused service client for message info service (`#481 `_) +* Call io_service.stop() when ros::ok() returns false (`#477 `_) +* Call Py_Finalize before throwing exception (`#476 `_) +* [Windows] use c++ signed trait to replace ssize_t for better portability. (`#463 `_) +* Port rosserial_server to Boost 1.71. (`#468 `_) +* rosserial_server: update install rules for binary targets (`#457 `_) +* Fix bug: assign the md5 for service (`#449 `_) +* Contributors: Hermann von Kleist, Johannes Meyer, Mike Purvis, Sean Yen, 趙　漠居(Zhao, Moju) + +0.8.0 (2018-10-11) +------------------ +* Fix compiling on boost > 1.66 (`#362 `_) + Reflective of changes made to boost::asio noted here: + http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html +* Contributors: Fan Jiang + +0.7.7 (2017-11-29) +------------------ +* Fix catkin lint errors (`#296 `_) +* Contributors: Bei Chen Liu + +0.7.6 (2017-03-01) +------------------ + +0.7.5 (2016-11-22) +------------------ +* Fixing build errors for boost >=1.60 (`#226 `_) (`#250 `_) +* Contributors: Malte Splietker + +0.7.4 (2016-09-21) +------------------ +* Use catkin_EXPORTED_TARGETS to avoid CMake warning (`#246 `_) +* Fix AsyncReadBuffer for UDP socket case. (`#245 `_) +* Contributors: Mike Purvis + +0.7.3 (2016-08-05) +------------------ +* Avoid runaway async condition when port is bad. (`#236 `_) +* Add missing install rule for udp_socket_node +* Make the ~require param configurable from Session. (`#233 `_) +* Contributors: Mike Purvis + +0.7.2 (2016-07-15) +------------------ +* Implementation of native UDP rosserial server. (`#231 `_) +* Explicit session lifecycle for the serial server. (`#228 `_) + This is a long overdue change which will resolve some crashes when + USB serial devices return error states in the face of noise or other + interruptions. +* Support for VER1 protocol has been dropped. +* Handle log messages in rosserial_server +* Contributors: Mike Purvis, mkrauter + +0.7.1 (2015-07-06) +------------------ + +0.7.0 (2015-04-23) +------------------ +* Fill out description field in package.xml. +* Bugfix for checksum. + Publishing topics fails when messages are over 256 bytes in length due to checksum() function or'ing high and low byte instead of adding them. +* rosserial_server: Properly receive messages > 255 bytes. +* Contributors: Chad Attermann, Mike Purvis + +0.6.3 (2014-11-05) +------------------ +* Add more log output, don't end the session for certain write errors. +* Contributors: Mike Purvis + +0.6.2 (2014-09-10) +------------------ +* Bugfix for interrupted sessions. + This is a two-part fix for an issue causes a segfault when the device + disappears during operation, for example a ttyACM device which is unplugged. + The AsyncReadBuffer part avoids calling a callback after the object + owning it has destructed, and the SerialSession part avoids recreating + itself until the previous instance has finished the destructor and been + full destroyed. +* Add dependency on rosserial_msgs_gencpp, fixes `#133 `_ +* Make ServiceClient::handle public, to fix compilation bug on some platforms. +* Enabled registration of service clients +* Add namespaces to headers, swap ROS thread to foreground. +* Move headers to include path, rename to follow ROS style. + +0.6.1 (2014-06-30) +------------------ + +0.6.0 (2014-06-11) +------------------ + +0.5.6 (2014-06-11) +------------------ +* Fixed build error due to variable being read as a function due to missing parenthesis +* Add rosserial_python as dependency of rosserial_server +* Contributors: Mike Purvis, spaghetti- + +0.5.5 (2014-01-14) +------------------ +* Add support for require/publishers and require/subscribers parameters. +* Use stream logging in rosserial_server + +0.5.4 (2013-10-17) +------------------ + +0.5.3 (2013-09-21) +------------------ +* New package: rosserial_server +* Contains example launch file for serial configuration of server +* Working now with both Groovy and Hydro clients. +* Subscriber to correctly declare known md5 and topic type from client. diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt new file mode 100644 index 0000000..6e57211 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.7.2) +project(rosserial_server) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rosserial_msgs + std_msgs + topic_tools +) + +find_package(Boost REQUIRED COMPONENTS + system + thread +) + +find_package(PythonLibs REQUIRED) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS + roscpp + rosserial_msgs + std_msgs + topic_tools + LIBRARIES ${PROJECT_NAME}_lookup +) + +include_directories( + include + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME}_lookup src/msg_lookup.cpp) +target_link_libraries(${PROJECT_NAME}_lookup ${PYTHON_LIBRARY}) +target_include_directories(${PROJECT_NAME}_lookup SYSTEM PRIVATE ${PYTHON_INCLUDE_DIR}) + +add_executable(${PROJECT_NAME}_serial_node src/serial_node.cpp) +target_link_libraries(${PROJECT_NAME}_serial_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_serial_node PROPERTIES OUTPUT_NAME serial_node PREFIX "") +add_dependencies(${PROJECT_NAME}_serial_node ${catkin_EXPORTED_TARGETS}) + +add_executable(${PROJECT_NAME}_socket_node src/socket_node.cpp) +target_link_libraries(${PROJECT_NAME}_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_socket_node PROPERTIES OUTPUT_NAME socket_node PREFIX "") +add_dependencies(${PROJECT_NAME}_socket_node ${catkin_EXPORTED_TARGETS}) + +add_executable(${PROJECT_NAME}_udp_socket_node src/udp_socket_node.cpp) +target_link_libraries(${PROJECT_NAME}_udp_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_udp_socket_node PROPERTIES OUTPUT_NAME udp_socket_node PREFIX "") +add_dependencies(${PROJECT_NAME}_udp_socket_node ${catkin_EXPORTED_TARGETS}) + +install( + TARGETS + ${PROJECT_NAME}_lookup + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + TARGETS + ${PROJECT_NAME}_serial_node + ${PROJECT_NAME}_socket_node + ${PROJECT_NAME}_udp_socket_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h new file mode 100644 index 0000000..586fcae --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h @@ -0,0 +1,204 @@ +/** + * + * \file + * \brief Helper object for successive reads from a ReadStream. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H +#define ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H + +#include +#include +#include + +#include + +// ssize_t is POSIX-only type. Use make_signed for portable code. +#include // size_t +#include // std::make_signed +typedef std::make_signed::type signed_size_t; + +namespace rosserial_server +{ + +template +class AsyncReadBuffer +{ +public: + AsyncReadBuffer(AsyncReadStream& s, size_t capacity, + boost::function error_callback) + : stream_(s), read_requested_bytes_(0), error_callback_(error_callback) { + reset(); + mem_.resize(capacity); + ROS_ASSERT_MSG(error_callback_, "Bad error callback passed to read buffer."); + } + + /** + * @brief Commands a fixed number of bytes from the buffer. This may be fulfilled from existing + * buffer content, or following a hardware read if required. + */ + void read(size_t requested_bytes, boost::function callback) { + ROS_DEBUG_STREAM_NAMED("async_read", "Buffer read of " << requested_bytes << " bytes, " << + "wi: " << write_index_ << ", ri: " << read_index_); + + ROS_ASSERT_MSG(read_requested_bytes_ == 0, "Bytes requested is nonzero, is there an operation already pending?"); + ROS_ASSERT_MSG(callback, "Bad read success callback function."); + read_success_callback_ = callback; + read_requested_bytes_ = requested_bytes; + + if (read_requested_bytes_ > mem_.size()) + { + // Insufficient room in the buffer for the requested bytes, + ROS_ERROR_STREAM_NAMED("async_read", "Requested to read " << read_requested_bytes_ << + " bytes, but buffer capacity is only " << mem_.size() << "."); + error_callback_(boost::system::errc::make_error_code(boost::system::errc::no_buffer_space)); + return; + } + + // Number of bytes which must be transferred to satisfy the request. + signed_size_t transfer_bytes = read_requested_bytes_ - bytesAvailable(); + + if (transfer_bytes > 0) + { + // If we don't have enough headroom in the buffer, we'll have to shift what's currently in there to make room. + if (bytesHeadroom() < transfer_bytes) + { + memmove(&mem_[0], &mem_[read_index_], bytesAvailable()); + write_index_ = bytesAvailable(); + read_index_ = 0; + } + + // Initiate a read from hardware so that we have enough bytes to fill the user request. + ROS_DEBUG_STREAM_NAMED("async_read", "Requesting transfer of at least " << transfer_bytes << " byte(s)."); + boost::asio::async_read(stream_, + boost::asio::buffer(&mem_[write_index_], bytesHeadroom()), + boost::asio::transfer_at_least(transfer_bytes), + boost::bind(&AsyncReadBuffer::callback, this, + boost::asio::placeholders::error, + boost::asio::placeholders::bytes_transferred)); + } + else + { + // We have enough in the buffer already, can fill the request without going to hardware. + callSuccessCallback(); + } + } + +private: + void reset() + { + read_index_ = 0; + write_index_ = 0; + } + + inline size_t bytesAvailable() + { + return write_index_ - read_index_; + } + + inline size_t bytesHeadroom() + { + return mem_.size() - write_index_; + } + + /** + * @brief The internal callback which is called by the boost::asio::async_read invocation + * in the public read method above. + */ + void callback(const boost::system::error_code& error, size_t bytes_transferred) + { + if (error) + { + read_requested_bytes_ = 0; + read_success_callback_.clear(); + ROS_DEBUG_STREAM_NAMED("async_read", "Read operation failed with: " << error); + + if (error == boost::asio::error::operation_aborted) + { + // Special case for operation_aborted. The abort callback comes when the owning Session + // is in the middle of teardown, which means the callback is no longer valid. + } + else + { + error_callback_(error); + } + return; + } + + write_index_ += bytes_transferred; + ROS_DEBUG_STREAM_NAMED("async_read", "Successfully read " << bytes_transferred << " byte(s), now " << bytesAvailable() << " available."); + callSuccessCallback(); + } + + /** + * @brief Calls the user's callback. This is a separate function because it gets called from two + * places, depending whether or not an actual HW read is required to fill the request. + */ + void callSuccessCallback() + { + ROS_DEBUG_STREAM_NAMED("async_read", "Invoking success callback with buffer of requested size " << + read_requested_bytes_ << " byte(s)."); + + ros::serialization::IStream stream(&mem_[read_index_], read_requested_bytes_); + read_index_ += read_requested_bytes_; + + // Post the callback rather than executing it here so, so that we have a chance to do the cleanup + // below prior to it actually getting run, in the event that the callback queues up another read. +#if BOOST_VERSION >= 107000 + boost::asio::post(stream_.get_executor(), boost::bind(read_success_callback_, stream)); +#else + stream_.get_io_service().post(boost::bind(read_success_callback_, stream)); +#endif + + // Resetting these values clears our state so that we know there isn't a callback pending. + read_requested_bytes_ = 0; + read_success_callback_.clear(); + + if (bytesAvailable() == 0) + { + ROS_DEBUG_STREAM_NAMED("async_read", "Buffer is empty, resetting indexes to the beginning."); + reset(); + } + } + + AsyncReadStream& stream_; + std::vector mem_; + + size_t write_index_; + size_t read_index_; + boost::function error_callback_; + + boost::function read_success_callback_; + size_t read_requested_bytes_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h new file mode 100644 index 0000000..28e60b9 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h @@ -0,0 +1,44 @@ +/** + * \author Mike Purvis + * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + */ + +#include +#include + +namespace rosserial_server +{ + +struct MsgInfo +{ + std::string md5sum; + std::string full_text; +}; + +const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule = "msg"); + +} // namespace rosserial_server diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h new file mode 100644 index 0000000..2a0bc15 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h @@ -0,0 +1,118 @@ +/** + * + * \file + * \brief Single, reconnecting class for a serial rosserial session. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_SERIAL_SESSION_H +#define ROSSERIAL_SERVER_SERIAL_SESSION_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + +namespace rosserial_server +{ + +class SerialSession : public Session +{ +public: + SerialSession(boost::asio::io_service& io_service, std::string port, int baud) + : Session(io_service), port_(port), baud_(baud), timer_(io_service) + { + ROS_INFO_STREAM("rosserial_server session configured for " << port_ << " at " << baud << "bps."); + + failed_connection_attempts_ = 0; + check_connection(); + } + +private: + void check_connection() + { + if (!is_active()) + { + attempt_connection(); + } + + // Every second, check again if the connection should be reinitialized, + // if the ROS node is still up. + if (ros::ok()) + { + timer_.expires_from_now(boost::posix_time::milliseconds(2000)); + timer_.async_wait(boost::bind(&SerialSession::check_connection, this)); + } + else + { + shutdown(); + } + } + + void attempt_connection() + { + ROS_DEBUG("Opening serial port."); + + boost::system::error_code ec; + socket().open(port_, ec); + if (ec) { + failed_connection_attempts_++; + if (failed_connection_attempts_ == 1) { + ROS_ERROR_STREAM("Unable to open port " << port_ << ": " << ec); + } else { + ROS_DEBUG_STREAM("Unable to open port " << port_ << " (" << failed_connection_attempts_ << "): " << ec); + } + return; + } + ROS_INFO_STREAM("Opened " << port_); + failed_connection_attempts_ = 0; + + typedef boost::asio::serial_port_base serial; + socket().set_option(serial::baud_rate(baud_)); + socket().set_option(serial::character_size(8)); + socket().set_option(serial::stop_bits(serial::stop_bits::one)); + socket().set_option(serial::parity(serial::parity::none)); + socket().set_option(serial::flow_control(serial::flow_control::none)); + + // Kick off the session. + start(); + } + + std::string port_; + int baud_; + boost::asio::deadline_timer timer_; + int failed_connection_attempts_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_SERIAL_SESSION_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h new file mode 100644 index 0000000..e7f8ab7 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h @@ -0,0 +1,625 @@ +/** + * + * \file + * \brief Class representing a session between this node and a + * templated rosserial client. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_SESSION_H +#define ROSSERIAL_SERVER_SESSION_H + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "rosserial_server/async_read_buffer.h" +#include "rosserial_server/topic_handlers.h" + +namespace rosserial_server +{ + + typedef std::vector Buffer; + typedef boost::shared_ptr BufferPtr; + + template + class Session : boost::noncopyable + { + public: + Session(boost::asio::io_service &io_service) + : io_service_(io_service), + socket_(io_service), + sync_timer_(io_service), + require_check_timer_(io_service), + ros_spin_timer_(io_service), + async_read_buffer_(socket_, buffer_max, + boost::bind(&Session::read_failed, this, + boost::asio::placeholders::error)) + { + active_ = false; + + timeout_interval_ = boost::posix_time::milliseconds(5000); + attempt_interval_ = boost::posix_time::milliseconds(1000); + require_check_interval_ = boost::posix_time::milliseconds(1000); + ros_spin_interval_ = boost::posix_time::milliseconds(10); + require_param_name_ = "~require"; + + unrecognised_topic_retry_threshold_ = ros::param::param("~unrecognised_topic_retry_threshold", 0); + + nh_.setCallbackQueue(&ros_callback_queue_); + + // Intermittent callback to service ROS callbacks. To avoid polling like this, + // CallbackQueue could in the future be extended with a scheme to monitor for + // callbacks on another thread, and then queue them up to be executed on this one. + ros_spin_timer_.expires_from_now(ros_spin_interval_); + ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, + boost::asio::placeholders::error)); + } + + Socket &socket() + { + return socket_; + } + + void start() + { + ROS_DEBUG("Starting session."); + + callbacks_[rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_publisher, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_subscriber, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_service_client_publisher, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_service_client_subscriber, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_LOG] = boost::bind(&Session::handle_log, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_TIME] = boost::bind(&Session::handle_time, this, _1); + + active_ = true; + attempt_sync(); + read_sync_header(); + } + + void stop() + { + std::cout << "Sending Tx Stop Request..." << std::endl; + uint8_t overhead_bytes = 8; + uint16_t length = overhead_bytes; + BufferPtr buffer_ptr(new Buffer(length)); + ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); + stream << (uint16_t)0xfeff << (uint16_t)0x0000 << (uint16_t)0x0bff << (uint16_t)0xf400; + boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), + boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); + std::cout << "Stop..." << std::endl; + + // Abort any pending ROS callbacks. + ros_callback_queue_.clear(); + + // Abort active session timer callbacks, if present. + sync_timer_.cancel(); + require_check_timer_.cancel(); + + // Reset the state of the session, dropping any publishers or subscribers + // we currently know about from this client. + callbacks_.clear(); + subscribers_.clear(); + publishers_.clear(); + services_.clear(); + + // Close the socket. + socket_.close(); + active_ = false; + } + + void shutdown() + { + if (is_active()) + { + stop(); + } + io_service_.stop(); + } + + bool is_active() + { + return active_; + } + + /** + * This is to set the name of the required topics parameter from the + * default of ~require. You might want to do this to avoid a conflict + * with something else in that namespace, or because you're embedding + * multiple instances of rosserial_server in a single process. + */ + void set_require_param(std::string param_name) + { + require_param_name_ = param_name; + } + + private: + /** + * Periodic function which handles calling ROS callbacks, executed on the same + * io_service thread to avoid a concurrency nightmare. + */ + void ros_spin_timeout(const boost::system::error_code &error) + { + ros_callback_queue_.callAvailable(); + + if (ros::ok()) + { + // Call again next interval. + ros_spin_timer_.expires_from_now(ros_spin_interval_); + ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, + boost::asio::placeholders::error)); + } + else + { + shutdown(); + } + } + + //// RECEIVING MESSAGES //// + // TODO: Total message timeout, implement primarily in ReadBuffer. + + void read_sync_header() + { + async_read_buffer_.read(1, boost::bind(&Session::read_sync_first, this, _1)); + } + + void read_sync_first(ros::serialization::IStream &stream) + { + uint8_t sync; + stream >> sync; + if (sync == 0xff) + { + async_read_buffer_.read(1, boost::bind(&Session::read_sync_second, this, _1)); + } + else + { + read_sync_header(); + } + } + + void read_sync_second(ros::serialization::IStream &stream) + { + uint8_t sync; + stream >> sync; + if (sync == 0xfe) + { + async_read_buffer_.read(5, boost::bind(&Session::read_id_length, this, _1)); + } + else + { + read_sync_header(); + } + } + + void read_id_length(ros::serialization::IStream &stream) + { + uint16_t topic_id, length; + uint8_t length_checksum; + + // Check header checksum byte for length field. + stream >> length >> length_checksum; + if (length_checksum + checksum(length) != 0xff) + { + uint8_t csl = checksum(length); + ROS_WARN("Bad message header length checksum. Dropping message from client. T%d L%d C%d %d", topic_id, length, length_checksum, csl); + read_sync_header(); + return; + } + else + { + stream >> topic_id; + } + ROS_DEBUG("Received message header with length %d and topic_id=%d", length, topic_id); + + // Read message length + checksum byte. + async_read_buffer_.read(length + 1, boost::bind(&Session::read_body, this, + _1, topic_id)); + } + + void read_body(ros::serialization::IStream &stream, uint16_t topic_id) + { + ROS_DEBUG("Received body of length %d for message on topic %d.", stream.getLength(), topic_id); + + ros::serialization::IStream checksum_stream(stream.getData(), stream.getLength()); + uint8_t msg_checksum = checksum(checksum_stream) + checksum(topic_id); + + if (msg_checksum != 0xff) + { + ROS_WARN("Rejecting message on topicId=%d, length=%d with bad checksum.", topic_id, stream.getLength()); + } + else + { + if (callbacks_.count(topic_id) == 1) + { + try + { + // stream includes the check sum byte. + ros::serialization::IStream msg_stream(stream.getData(), stream.getLength() - 1); + callbacks_[topic_id](msg_stream); + } + catch (ros::serialization::StreamOverrunException e) + { + if (topic_id < 100) + { + ROS_ERROR("Buffer overrun when attempting to parse setup message."); + ROS_ERROR_ONCE("Is this firmware from a pre-Groovy rosserial?"); + } + else + { + ROS_WARN("Buffer overrun when attempting to parse user message."); + } + } + } + else + { + ROS_WARN("Received message with unrecognized topicId (%d).", topic_id); + + if ((unrecognised_topic_retry_threshold_ > 0) && ++unrecognised_topics_ >= unrecognised_topic_retry_threshold_) + { + // The threshold for unrecognised topics has been exceeded. + // Attempt to request the topics from the client again + ROS_WARN("Unrecognised topic threshold exceeded. Requesting topics from client"); + attempt_sync(); + unrecognised_topics_ = 0; + } + } + } + + // Kickoff next message read. + read_sync_header(); + } + + void read_failed(const boost::system::error_code &error) + { + if (error == boost::system::errc::no_buffer_space) + { + // No worries. Begin syncing on a new message. + ROS_WARN("Overrun on receive buffer. Attempting to regain rx sync."); + read_sync_header(); + } + else if (error) + { + // When some other read error has occurred, stop the session, which destroys + // all known publishers and subscribers. + ROS_WARN_STREAM("Socket asio error, closing socket: " << error); + stop(); + } + } + + //// SENDING MESSAGES //// + + void write_message(Buffer &message, const uint16_t topic_id) + { + uint8_t overhead_bytes = 8; + uint16_t length = overhead_bytes + message.size(); + BufferPtr buffer_ptr(new Buffer(length)); + + uint8_t msg_checksum; + ros::serialization::IStream checksum_stream(message.size() > 0 ? &message[0] : NULL, message.size()); + + ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); + uint8_t msg_len_checksum = 255 - checksum(message.size()); + stream << (uint16_t)0xfeff << (uint16_t)message.size() << msg_len_checksum << topic_id; + msg_checksum = 255 - (checksum(checksum_stream) + checksum(topic_id)); + + memcpy(stream.advance(message.size()), &message[0], message.size()); + stream << msg_checksum; + + ROS_DEBUG_NAMED("async_write", "Sending buffer of %d bytes to client.", length); + boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), + boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); + } + + void write_completion_cb(const boost::system::error_code &error, + BufferPtr buffer_ptr) + { + if (error) + { + if (error == boost::system::errc::io_error) + { + ROS_WARN_THROTTLE(1, "Socket write operation returned IO error."); + } + else if (error == boost::system::errc::no_such_device) + { + ROS_WARN_THROTTLE(1, "Socket write operation returned no device."); + } + else + { + ROS_WARN_STREAM_THROTTLE(1, "Unknown error returned during write operation: " << error); + } + stop(); + } + // Buffer is destructed when this function exits and buffer_ptr goes out of scope. + } + + //// SYNC WATCHDOG //// + void attempt_sync() + { + request_topics(); + set_sync_timeout(attempt_interval_); + } + + void set_sync_timeout(const boost::posix_time::time_duration &interval) + { + if (ros::ok()) + { + sync_timer_.cancel(); + sync_timer_.expires_from_now(interval); + sync_timer_.async_wait(boost::bind(&Session::sync_timeout, this, + boost::asio::placeholders::error)); + } + else + { + shutdown(); + } + } + + void sync_timeout(const boost::system::error_code &error) + { + if (error != boost::asio::error::operation_aborted) + { + ROS_DEBUG("Sync with device lost."); + stop(); + } + } + + //// HELPERS //// + void request_topics() + { + std::vector message(0); + ROS_DEBUG("Sending request topics message for VER2 protocol."); + write_message(message, rosserial_msgs::TopicInfo::ID_PUBLISHER); + + // Set timer for future point at which to verify the subscribers and publishers + // created by the client against the expected set given in the parameters. + require_check_timer_.expires_from_now(require_check_interval_); + require_check_timer_.async_wait(boost::bind(&Session::required_topics_check, this, + boost::asio::placeholders::error)); + } + + void required_topics_check(const boost::system::error_code &error) + { + if (error != boost::asio::error::operation_aborted) + { + if (ros::param::has(require_param_name_)) + { + if (!check_set(require_param_name_ + "/publishers", publishers_) || + !check_set(require_param_name_ + "/subscribers", subscribers_)) + { + ROS_WARN("Connected client failed to establish the publishers and subscribers dictated by require parameter. Re-requesting topics."); + request_topics(); + } + } + } + } + + template + bool check_set(std::string param_name, M map) + { + XmlRpc::XmlRpcValue param_list; + ros::param::get(param_name, param_list); + ROS_ASSERT(param_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + for (int i = 0; i < param_list.size(); ++i) + { + ROS_ASSERT(param_list[i].getType() == XmlRpc::XmlRpcValue::TypeString); + std::string required_topic((std::string(param_list[i]))); + // Iterate through map of registered topics, to ensure that this one is present. + bool found = false; + for (typename M::iterator j = map.begin(); j != map.end(); ++j) + { + if (nh_.resolveName(j->second->get_topic()) == + nh_.resolveName(required_topic)) + { + found = true; + ROS_INFO_STREAM("Verified connection to topic " << required_topic << ", given in parameter " << param_name); + break; + } + } + if (!found) + { + ROS_WARN_STREAM("Missing connection to topic " << required_topic << ", required by parameter " << param_name); + return false; + } + } + return true; + } + + static uint8_t checksum(ros::serialization::IStream &stream) + { + uint8_t sum = 0; + for (uint16_t i = 0; i < stream.getLength(); ++i) + { + sum += stream.getData()[i]; + } + return sum; + } + + static uint8_t checksum(uint16_t val) + { + return (val >> 8) + val; + } + + //// RECEIVED MESSAGE HANDLERS //// + + void setup_publisher(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + PublisherPtr pub(new Publisher(nh_, topic_info)); + callbacks_[topic_info.topic_id] = boost::bind(&Publisher::handle, pub, _1); + publishers_[topic_info.topic_id] = pub; + + set_sync_timeout(timeout_interval_); + } + + void setup_subscriber(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + SubscriberPtr sub(new Subscriber(nh_, topic_info, + boost::bind(&Session::write_message, this, _1, topic_info.topic_id))); + subscribers_[topic_info.topic_id] = sub; + + set_sync_timeout(timeout_interval_); + } + + // When the rosserial client creates a ServiceClient object (and/or when it registers that object with the NodeHandle) + // it creates a publisher (to publish the service request message to us) and a subscriber (to receive the response) + // the service client callback is attached to the *subscriber*, so when we receive the service response + // and wish to send it over the socket to the client, + // we must attach the topicId that came from the service client subscriber message + + void setup_service_client_publisher(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + if (!services_.count(topic_info.topic_name)) + { + ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); + ServiceClientPtr srv(new ServiceClient( + nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); + services_[topic_info.topic_name] = srv; + callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); + } + if (services_[topic_info.topic_name]->getRequestMessageMD5() != topic_info.md5sum) + { + ROS_WARN("Service client setup: Request message MD5 mismatch between rosserial client and ROS"); + } + else + { + ROS_DEBUG("Service client %s: request message MD5 successfully validated as %s", + topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); + } + set_sync_timeout(timeout_interval_); + } + + void setup_service_client_subscriber(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + if (!services_.count(topic_info.topic_name)) + { + ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); + ServiceClientPtr srv(new ServiceClient( + nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); + services_[topic_info.topic_name] = srv; + callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); + } + // see above comment regarding the service client callback for why we set topic_id here + services_[topic_info.topic_name]->setTopicId(topic_info.topic_id); + if (services_[topic_info.topic_name]->getResponseMessageMD5() != topic_info.md5sum) + { + ROS_WARN("Service client setup: Response message MD5 mismatch between rosserial client and ROS"); + } + else + { + ROS_DEBUG("Service client %s: response message MD5 successfully validated as %s", + topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); + } + set_sync_timeout(timeout_interval_); + } + + void handle_log(ros::serialization::IStream &stream) + { + rosserial_msgs::Log l; + ros::serialization::Serializer::read(stream, l); + if (l.level == rosserial_msgs::Log::ROSDEBUG) + ROS_DEBUG("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::INFO) + ROS_INFO("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::WARN) + ROS_WARN("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::ERROR) + ROS_ERROR("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::FATAL) + ROS_FATAL("%s", l.msg.c_str()); + } + + void handle_time(ros::serialization::IStream &stream) + { + std_msgs::Time time; + time.data = ros::Time::now(); + + size_t length = ros::serialization::serializationLength(time); + std::vector message(length); + + ros::serialization::OStream ostream(&message[0], length); + ros::serialization::Serializer::write(ostream, time); + + write_message(message, rosserial_msgs::TopicInfo::ID_TIME); + + // The MCU requesting the time from the server is the sync notification. This + // call moves the timeout forward. + set_sync_timeout(timeout_interval_); + } + + boost::asio::io_service &io_service_; + Socket socket_; + AsyncReadBuffer async_read_buffer_; + enum + { + buffer_max = 1023 + }; + bool active_; + + ros::NodeHandle nh_; + ros::CallbackQueue ros_callback_queue_; + + boost::posix_time::time_duration timeout_interval_; + boost::posix_time::time_duration attempt_interval_; + boost::posix_time::time_duration require_check_interval_; + boost::posix_time::time_duration ros_spin_interval_; + boost::asio::deadline_timer sync_timer_; + boost::asio::deadline_timer require_check_timer_; + boost::asio::deadline_timer ros_spin_timer_; + std::string require_param_name_; + int unrecognised_topic_retry_threshold_{0}; + int unrecognised_topics_{0}; + + std::map> callbacks_; + std::map publishers_; + std::map subscribers_; + std::map services_; + }; + +} // namespace + +#endif // ROSSERIAL_SERVER_SESSION_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h new file mode 100644 index 0000000..1dff9c5 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h @@ -0,0 +1,92 @@ +/** + * + * \file + * \brief TCP server for rosserial + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_TCP_SERVER_H +#define ROSSERIAL_SERVER_TCP_SERVER_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::tcp; + +template< typename Session = rosserial_server::Session > +class TcpServer +{ +public: + TcpServer(boost::asio::io_service& io_service, short port) + : io_service_(io_service), + acceptor_(io_service, tcp::endpoint(tcp::v4(), port)) + { + start_accept(); + } + +private: + void start_accept() + { + Session* new_session = new Session(io_service_); + acceptor_.async_accept(new_session->socket(), + boost::bind(&TcpServer::handle_accept, this, new_session, + boost::asio::placeholders::error)); + } + + void handle_accept(Session* new_session, + const boost::system::error_code& error) + { + if (!error) + { + new_session->start(); + } + else + { + delete new_session; + } + + start_accept(); + } + + boost::asio::io_service& io_service_; + tcp::acceptor acceptor_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_TCP_SERVER_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h new file mode 100644 index 0000000..737adb5 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h @@ -0,0 +1,195 @@ +/** + * + * \file + * \brief Classes which manage the Publish and Subscribe relationships + * that a Session has with its client. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_TOPIC_HANDLERS_H +#define ROSSERIAL_SERVER_TOPIC_HANDLERS_H + +#include +#include +#include +#include + +namespace rosserial_server +{ + +class Publisher { +public: + Publisher(ros::NodeHandle& nh, const rosserial_msgs::TopicInfo& topic_info) { + rosserial_server::MsgInfo msginfo; + try + { + msginfo = lookupMessage(topic_info.message_type); + } + catch (const std::exception& e) + { + ROS_WARN_STREAM("Unable to look up message: " << e.what()); + } + + if (!msginfo.md5sum.empty() && msginfo.md5sum != topic_info.md5sum) + { + ROS_WARN_STREAM("Message" << topic_info.message_type << "MD5 sum from client does not " + "match that in system. Will avoid using system's message definition."); + msginfo.full_text = ""; + } + message_.morph(topic_info.md5sum, topic_info.message_type, msginfo.full_text, "false"); + publisher_ = message_.advertise(nh, topic_info.topic_name, 1); + } + + void handle(ros::serialization::IStream stream) { + ros::serialization::Serializer::read(stream, message_); + publisher_.publish(message_); + } + + std::string get_topic() { + return publisher_.getTopic(); + } + +private: + ros::Publisher publisher_; + topic_tools::ShapeShifter message_; +}; + +typedef boost::shared_ptr PublisherPtr; + + +class Subscriber { +public: + Subscriber(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, + boost::function& buffer)> write_fn) + : write_fn_(write_fn) { + ros::SubscribeOptions opts; + opts.init( + topic_info.topic_name, 1, boost::bind(&Subscriber::handle, this, _1)); + opts.md5sum = topic_info.md5sum; + opts.datatype = topic_info.message_type; + subscriber_ = nh.subscribe(opts); + } + + std::string get_topic() { + return subscriber_.getTopic(); + } + +private: + void handle(const boost::shared_ptr& msg) { + size_t length = ros::serialization::serializationLength(*msg); + std::vector buffer(length); + + ros::serialization::OStream ostream(&buffer[0], length); + ros::serialization::Serializer::write(ostream, *msg); + + write_fn_(buffer); + } + + ros::Subscriber subscriber_; + boost::function& buffer)> write_fn_; +}; + +typedef boost::shared_ptr SubscriberPtr; + +class ServiceClient { +public: + ServiceClient(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, + boost::function& buffer, const uint16_t topic_id)> write_fn) + : write_fn_(write_fn) { + topic_id_ = -1; + + rosserial_server::MsgInfo srvinfo; + rosserial_server::MsgInfo reqinfo; + rosserial_server::MsgInfo respinfo; + try + { + srvinfo = lookupMessage(topic_info.message_type, "srv"); + reqinfo = lookupMessage(topic_info.message_type + "Request", "srv"); + respinfo = lookupMessage(topic_info.message_type + "Response", "srv"); + } + catch (const std::exception& e) + { + ROS_WARN_STREAM("Unable to look up service definition: " << e.what()); + } + service_md5_ = srvinfo.md5sum; + request_message_md5_ = reqinfo.md5sum; + response_message_md5_ = respinfo.md5sum; + + ros::ServiceClientOptions opts; + opts.service = topic_info.topic_name; + opts.md5sum = srvinfo.md5sum; + opts.persistent = false; // always false for now + service_client_ = nh.serviceClient(opts); + } + void setTopicId(uint16_t topic_id) { + topic_id_ = topic_id; + } + std::string getServiceMD5() { + return service_md5_; + } + std::string getRequestMessageMD5() { + return request_message_md5_; + } + std::string getResponseMessageMD5() { + return response_message_md5_; + } + + void handle(ros::serialization::IStream stream) { + // deserialize request message + ros::serialization::Serializer::read(stream, request_message_); + + // perform service call + // note that at present, at least for rosserial-windows a service call returns nothing, + // so we discard the return value of this call() invocation. + service_client_.call(request_message_, response_message_, service_md5_); + + // write service response over the wire + size_t length = ros::serialization::serializationLength(response_message_); + std::vector buffer(length); + ros::serialization::OStream ostream(&buffer[0], length); + ros::serialization::Serializer::write(ostream, response_message_); + write_fn_(buffer,topic_id_); + } + +private: + topic_tools::ShapeShifter request_message_; + topic_tools::ShapeShifter response_message_; + ros::ServiceClient service_client_; + boost::function& buffer, const uint16_t topic_id)> write_fn_; + std::string service_md5_; + std::string request_message_md5_; + std::string response_message_md5_; + uint16_t topic_id_; +}; + +typedef boost::shared_ptr ServiceClientPtr; + +} // namespace + +#endif // ROSSERIAL_SERVER_TOPIC_HANDLERS_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h new file mode 100644 index 0000000..6e38dae --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h @@ -0,0 +1,94 @@ +/** + * + * \file + * \brief Reconnecting class for a UDP rosserial session. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H +#define ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" +#include "rosserial_server/udp_stream.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::udp; + +class UdpSocketSession : public Session +{ +public: + UdpSocketSession(boost::asio::io_service& io_service, + udp::endpoint server_endpoint, + udp::endpoint client_endpoint) + : Session(io_service), timer_(io_service), + server_endpoint_(server_endpoint), client_endpoint_(client_endpoint) + { + ROS_INFO_STREAM("rosserial_server UDP session created between " << server_endpoint << " and " << client_endpoint); + check_connection(); + } + +private: + void check_connection() + { + if (!is_active()) + { + socket().open(server_endpoint_, client_endpoint_); + start(); + } + + // Every second, check again if the connection should be reinitialized, + // if the ROS node is still up. + if (ros::ok()) + { + timer_.expires_from_now(boost::posix_time::milliseconds(2000)); + timer_.async_wait(boost::bind(&UdpSocketSession::check_connection, this)); + } + else + { + shutdown(); + } + } + + boost::asio::deadline_timer timer_; + udp::endpoint server_endpoint_; + udp::endpoint client_endpoint_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h new file mode 100644 index 0000000..30034cb --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h @@ -0,0 +1,133 @@ +/** + * + * \file + * \brief Adapter which allows a single-ended UDP connection to + * present the stream interface. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_UDP_STREAM_H +#define ROSSERIAL_SERVER_UDP_STREAM_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::udp; +#if BOOST_VERSION < 107000 +using boost::asio::handler_type; +#endif + + +class UdpStream : public udp::socket +{ +public: + explicit UdpStream(boost::asio::io_service& io_service) : udp::socket(io_service) + { + } + + void open(udp::endpoint server_endpoint, udp::endpoint client_endpoint) + { + boost::system::error_code ec; + const protocol_type protocol = server_endpoint.protocol(); + + udp::socket::open(protocol, ec); + boost::asio::detail::throw_error(ec, "open"); + + udp::socket::bind(server_endpoint, ec); + boost::asio::detail::throw_error(ec, "bind"); + + client_endpoint_ = client_endpoint; + } + + template + BOOST_ASIO_INITFN_RESULT_TYPE(WriteHandler, + void (boost::system::error_code, std::size_t)) + async_write_some(const ConstBufferSequence& buffers, + BOOST_ASIO_MOVE_ARG(WriteHandler) handler) + { + // If you get an error on the following line it means that your handler does + // not meet the documented type requirements for a WriteHandler. + BOOST_ASIO_WRITE_HANDLER_CHECK(WriteHandler, handler) type_check; +#if (BOOST_VERSION >= 106600) + // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html + boost::asio::async_completion init(handler); + + udp::socket::async_send_to( + buffers, client_endpoint_, 0, init.completion_handler); + + return init.result.get(); +#else + return this->get_service().async_send_to( + this->get_implementation(), buffers, client_endpoint_, 0, + BOOST_ASIO_MOVE_CAST(WriteHandler)(handler)); +#endif + } + + template + BOOST_ASIO_INITFN_RESULT_TYPE(ReadHandler, + void (boost::system::error_code, std::size_t)) + async_read_some(const MutableBufferSequence& buffers, + BOOST_ASIO_MOVE_ARG(ReadHandler) handler) + { + // If you get an error on the following line it means that your handler does + // not meet the documented type requirements for a ReadHandler. + BOOST_ASIO_READ_HANDLER_CHECK(ReadHandler, handler) type_check; +#if (BOOST_VERSION >= 106600) + // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html + boost::asio::async_completion init(handler); + + udp::socket::async_receive( + buffers, 0, init.completion_handler); + + return init.result.get(); +#else + return this->get_service().async_receive_from( + this->get_implementation(), buffers, client_endpoint_, 0, + BOOST_ASIO_MOVE_CAST(ReadHandler)(handler)); +#endif + } + +private: + udp::endpoint client_endpoint_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_UDP_STREAM_H diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/serial.launch b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/serial.launch new file mode 100644 index 0000000..8928429 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/serial.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/socket.launch b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/socket.launch new file mode 100644 index 0000000..cde949c --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/socket.launch @@ -0,0 +1,3 @@ + + + diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch new file mode 100644 index 0000000..9b79aed --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/package.xml b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/package.xml new file mode 100644 index 0000000..df73c39 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/package.xml @@ -0,0 +1,23 @@ + + + rosserial_server + 0.9.2 + + A more performance- and stability-oriented server alternative implemented + in C++ to rosserial_python. + + + Mike Purvis + Mike Purvis + + BSD + + catkin + rosserial_msgs + std_msgs + roscpp + topic_tools + python3-dev + libboost-thread-dev + libboost-thread + diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp new file mode 100644 index 0000000..b2c0e23 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp @@ -0,0 +1,102 @@ +/** + * \author Mike Purvis + * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + */ + +#include "rosserial_server/msg_lookup.h" +#include "Python.h" + +namespace rosserial_server +{ + +const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule) +{ + // Lazy-initialize the embedded Python interpreter. Avoid calling the corresponding + // finalize method due to issues with importing cyaml in the second instance. The + // total memory cost of having this in-process is only about 5-6MB. + Py_Initialize(); + + MsgInfo msginfo; + size_t slash_pos = message_type.find('/'); + if (slash_pos == std::string::npos) + { + throw std::runtime_error("Passed message type string does not include a slash character."); + } + std::string module_name = message_type.substr(0, slash_pos); + std::string class_name = message_type.substr(slash_pos + 1, std::string::npos); + + PyObject* module = PyImport_ImportModule((module_name + "." + submodule).c_str()); + if (!module) + { + throw std::runtime_error("Unable to import message module " + module_name + "."); + } + PyObject* msg_class = PyObject_GetAttrString(module, class_name.c_str()); + if (!msg_class) + { + throw std::runtime_error("Unable to find message class " + class_name + + " in module " + module_name + "."); + } + Py_XDECREF(module); + + PyObject* full_text = PyObject_GetAttrString(msg_class, "_full_text"); + PyObject* md5sum = PyObject_GetAttrString(msg_class, "_md5sum"); + if (!md5sum) + { + throw std::runtime_error("Class for message " + message_type + " did not contain" + + "expected _md5sum attribute."); + } + Py_XDECREF(msg_class); + +#if PY_VERSION_HEX > 0x03000000 + if (full_text) + { + msginfo.full_text.assign(PyUnicode_AsUTF8(full_text)); + } + msginfo.md5sum.assign(PyUnicode_AsUTF8(md5sum)); +#else + if (full_text) + { + msginfo.full_text.assign(PyString_AsString(full_text)); + } + msginfo.md5sum.assign(PyString_AsString(md5sum)); +#endif + + // See https://github.com/ros/ros_comm/issues/344 + // and https://github.com/ros/gencpp/pull/14 + // Valid full_text returned, but it is empty, so insert single line + if (full_text && msginfo.full_text.empty()) + { + msginfo.full_text = "\n"; + } + + Py_XDECREF(full_text); + Py_XDECREF(md5sum); + + return msginfo; +} + +} // namespace rosserial_server diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp new file mode 100644 index 0000000..8fcd890 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp @@ -0,0 +1,56 @@ +/** + * + * \file + * \brief Main entry point for the serial node. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/serial_session.h" + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_serial_node"); + + std::string port; + int baud; + ros::param::param("~port", port, "/dev/ttyACM0"); + ros::param::param("~baud", baud, 57600); + + boost::asio::io_service io_service; + rosserial_server::SerialSession serial_session(io_service, port, baud); + io_service.run(); + return 0; +} diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp new file mode 100644 index 0000000..e803b6d --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp @@ -0,0 +1,56 @@ +/** + * + * \file + * \brief Main entry point for the socket server node. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/tcp_server.h" + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_socket_node"); + + int port; + ros::param::param("~port", port, 11411); + + boost::asio::io_service io_service; + rosserial_server::TcpServer<> tcp_server(io_service, port); + + ROS_INFO_STREAM("Listening for rosserial TCP connections on port " << port); + io_service.run(); + return 0; +} diff --git a/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp new file mode 100644 index 0000000..1ff7718 --- /dev/null +++ b/docker/local-ros2/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp @@ -0,0 +1,65 @@ +/** + * + * \file + * \brief Main entry point for the UDP socket server node. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/udp_socket_session.h" + +using boost::asio::ip::udp; +using boost::asio::ip::address; + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_udp_socket_node"); + + int server_port; + int client_port; + std::string client_addr; + ros::param::param("~server_port", server_port, 11411); + ros::param::param("~client_port", client_port, 11411); + ros::param::param("~client_addr", client_addr, "127.0.0.1"); + + boost::asio::io_service io_service; + rosserial_server::UdpSocketSession udp_socket_session( + io_service, + udp::endpoint(udp::v4(), server_port), + udp::endpoint(address::from_string(client_addr), client_port)); + io_service.run(); + + return 0; +} diff --git a/docker/local-ros2/OdomComm/pull_and_run.sh b/docker/local-ros2/OdomComm/pull_and_run.sh index 213ad95..b3baa66 100755 --- a/docker/local-ros2/OdomComm/pull_and_run.sh +++ b/docker/local-ros2/OdomComm/pull_and_run.sh @@ -6,7 +6,7 @@ echo "[COMMUNICATION] Remove Containers ..." docker compose -p communication down --volumes --remove-orphans ## 1. make scripts & library executable -find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; +find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \; ## 2. environment setup export DISPLAY=:0 diff --git a/docker/local-ros2/docker-compose.yaml b/docker/local-ros2/docker-compose.yaml index 96b77fe..30394aa 100644 --- a/docker/local-ros2/docker-compose.yaml +++ b/docker/local-ros2/docker-compose.yaml @@ -48,4 +48,5 @@ services: # "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind" # Mount workspace - ../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + # command: /bin/bash -c "echo 'export ROS_DOMAIN_ID=42' >> ~/.bashrc && /bin/bash" command: /bin/bash \ No newline at end of file From cb6a61905d0a9d3c6d4c6b6f3de5e0722786512a Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 17 Jan 2025 20:56:37 +0800 Subject: [PATCH 027/184] Fix: project removal / Modify: compose for all --- docker/local-ros2/OdomComm/docker/compose.yml | 76 ++++++++++--------- docker/local-ros2/OdomComm/pull_and_run.sh | 2 +- 2 files changed, 43 insertions(+), 35 deletions(-) diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml index bcc51a7..565a146 100644 --- a/docker/local-ros2/OdomComm/docker/compose.yml +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -39,7 +39,7 @@ services: - /dev/shm:/dev/shm ros1: - image: ros1:serial + image: jossiewang/eurobot2025-localization:ros1-serial container_name: ros1 stdin_open: true tty: true @@ -57,36 +57,44 @@ services: sudo chmod 777 /dev/ttyACM0 && roslaunch odometry odometry_comm.launch" - # ros1: - # image: osrf/ros:noetic-desktop-full - # container_name: ros1 - # stdin_open: true - # tty: true - # network_mode: host - # privileged: true - # volumes: - # - ../comm-ws:/root/comm-ws - # - /dev/bus/usb:/dev/bus/usb - # stop_grace_period: 1s - # depends_on: - # ros-core: - # condition: service_healthy - # command: /bin/bash -c " - # chmod +x /root/comm-ws/devel/_setup_util.py && - # find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; && - # source /opt/ros/noetic/setup.bash && - # source /root/comm-ws/devel/setup.bash && - # cd /root/comm-ws && - # sudo chmod 777 /dev/ttyACM0 && - # roslaunch rosserial_server stm32.launch" - - # ros2: - # image: osrf/ros:humble-desktop-full - # container_name: ros2 - # stdin_open: true - # tty: true - # network_mode: host - # stop_grace_period: 1s - # volumes: - # # Shared Memory - # - /dev/shm:/dev/shm \ No newline at end of file + ros2-localization-dev: + build: + context: . + dockerfile: Dockerfile + args: + USERNAME: user + image: jossiewang/eurobot2025-localization:local-ros2-wSensors + container_name: localization-2025-dev-ros2 + stdin_open: true + tty: true + privileged: true + stop_grace_period: 1s + restart: no + # entrypoint: ["./start.sh"] + + network_mode: host + working_dir: /home/user/localization-ws + environment: + - DISPLAY=${DISPLAY} + # Set ros2 environment variables. + # References: + # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html + # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html + # - ROS_LOCALHOST_ONLY=1 + # - ROS_DOMAIN_ID=42 + - ROS_WS=/home/user/localization-ws + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + # Direct Rendering Infrastructure + # - /dev/dri:/dev/dri + # Mount sound card to prevent Gazebo warning. + # - /dev/snd:/dev/snd + - /dev:/dev + # Mount workspace + - ../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + command: /bin/bash \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/pull_and_run.sh b/docker/local-ros2/OdomComm/pull_and_run.sh index b3baa66..213ad95 100755 --- a/docker/local-ros2/OdomComm/pull_and_run.sh +++ b/docker/local-ros2/OdomComm/pull_and_run.sh @@ -6,7 +6,7 @@ echo "[COMMUNICATION] Remove Containers ..." docker compose -p communication down --volumes --remove-orphans ## 1. make scripts & library executable -find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \; +find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; ## 2. environment setup export DISPLAY=:0 From 8efc4708f10cbbab910f9f7bb220cf555a30fabc Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 17 Jan 2025 22:11:03 +0800 Subject: [PATCH 028/184] Fix: (OdomComm) compose w/ comm mount Deleted: unused files --- .../OdomComm/comm-ws/.catkin_workspace | 1 - .../OdomComm/comm-ws/build/.built_by | 1 - .../OdomComm/comm-ws/build/CATKIN_IGNORE | 0 .../OdomComm/comm-ws/build/CMakeCache.txt | 838 --------- .../CMakeFiles/3.16.3/CMakeCCompiler.cmake | 76 - .../CMakeFiles/3.16.3/CMakeCXXCompiler.cmake | 88 - .../3.16.3/CMakeDetermineCompilerABI_C.bin | Bin 16552 -> 0 bytes .../3.16.3/CMakeDetermineCompilerABI_CXX.bin | Bin 16560 -> 0 bytes .../build/CMakeFiles/3.16.3/CMakeSystem.cmake | 15 - .../3.16.3/CompilerIdC/CMakeCCompilerId.c | 671 ------- .../build/CMakeFiles/3.16.3/CompilerIdC/a.out | Bin 16712 -> 0 bytes .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 660 ------- 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a/docker/local-ros2/OdomComm/comm-ws/.catkin_workspace +++ /dev/null @@ -1 +0,0 @@ -# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/docker/local-ros2/OdomComm/comm-ws/build/.built_by b/docker/local-ros2/OdomComm/comm-ws/build/.built_by deleted file mode 100644 index 2e212dd..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/.built_by +++ /dev/null @@ -1 +0,0 @@ -catkin_make \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/CATKIN_IGNORE b/docker/local-ros2/OdomComm/comm-ws/build/CATKIN_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/docker/local-ros2/OdomComm/comm-ws/build/CMakeCache.txt b/docker/local-ros2/OdomComm/comm-ws/build/CMakeCache.txt deleted file mode 100644 index 827c380..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/CMakeCache.txt +++ /dev/null @@ -1,838 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /root/comm-ws/build -# It 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This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number components. */ -#ifdef COMPILER_VERSION_MAJOR -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; -char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; - - - - -#if !defined(__STDC__) -# if (defined(_MSC_VER) && !defined(__clang__)) \ - || (defined(__ibmxl__) || defined(__IBMC__)) -# define C_DIALECT "90" -# else -# define C_DIALECT -# endif -#elif __STDC_VERSION__ >= 201000L -# define C_DIALECT "11" -#elif __STDC_VERSION__ >= 199901L -# define C_DIALECT "99" -#else -# define C_DIALECT "90" -#endif -const char* info_language_dialect_default = - "INFO" ":" "dialect_default[" C_DIALECT "]"; - -/*--------------------------------------------------------------------------*/ - -#ifdef ID_VOID_MAIN -void main() {} -#else -# if defined(__CLASSIC_C__) -int main(argc, argv) int argc; char *argv[]; -# else -int main(int argc, char* argv[]) -# endif -{ - 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@echo "... rosserial_server_udp_socket_node" - @echo "... topic_tools_generate_messages_py" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/.rosinstall b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/.rosinstall deleted file mode 100644 index 8600f9f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /root/comm-ws/devel/setup.sh diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/_setup_util.py b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/_setup_util.py deleted file mode 100644 index c8d8434..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python3 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python3/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/env.sh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/env.sh deleted file mode 100644 index 8aa9d24..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.bash deleted file mode 100644 index 7da0d97..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/local_setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.sh deleted file mode 100644 index 56e80a9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.sh deleted file mode 100644 index ce2d929..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/atomic_configure/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin/catkin_generated/version/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/catkin/catkin_generated/version/package.cmake deleted file mode 100644 index c37e287..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin/catkin_generated/version/package.cmake +++ /dev/null @@ -1,24 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "catkin") -set(catkin_VERSION "0.8.10") -set(catkin_MAINTAINER "Michael Carroll , Tully Foote ") -set(catkin_PACKAGE_FORMAT "3") -set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") -set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") -set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") -set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") -set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") -set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") -set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") -set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") -set(catkin_DOC_DEPENDS ) -set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") -set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") -set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") -set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/env_cached.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/env_cached.sh deleted file mode 100644 index d6be91d..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/env_cached.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup_cached.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup_cached.sh" -exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/generate_cached_setup.py b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/generate_cached_setup.py deleted file mode 100644 index 3aa5b74..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/generate_cached_setup.py +++ /dev/null @@ -1,30 +0,0 @@ -# -*- coding: utf-8 -*- -from __future__ import print_function - -import os -import stat -import sys - -# find the import for catkin's python package - either from source space or from an installed underlay -if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')): - sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python')) -try: - from catkin.environment_cache import generate_environment_script -except ImportError: - # search for catkin package in all workspaces and prepend to path - for workspace in '/opt/ros/noetic'.split(';'): - python_path = os.path.join(workspace, 'lib/python3/dist-packages') - if os.path.isdir(os.path.join(python_path, 'catkin')): - sys.path.insert(0, python_path) - break - from catkin.environment_cache import generate_environment_script - -code = generate_environment_script('/root/comm-ws/devel/env.sh') - -output_filename = '/root/comm-ws/build/catkin_generated/setup_cached.sh' -with open(output_filename, 'w') as f: - # print('Generate script for cached setup "%s"' % output_filename) - f.write('\n'.join(code)) - -mode = os.stat(output_filename).st_mode -os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/.rosinstall b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/.rosinstall deleted file mode 100644 index ff54f6a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /root/comm-ws/install/setup.sh diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/_setup_util.py b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/_setup_util.py deleted file mode 100644 index c8d8434..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python3 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python3/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/env.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/env.sh deleted file mode 100644 index 8aa9d24..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.bash deleted file mode 100644 index 7da0d97..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/local_setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.sh deleted file mode 100644 index e8f74ad..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/comm-ws/install} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.bash b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.sh deleted file mode 100644 index 956beef..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/comm-ws/install} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.zsh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/installspace/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.cmake b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.cmake deleted file mode 100644 index eca83f1..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.cmake +++ /dev/null @@ -1,22 +0,0 @@ -# generated from catkin/cmake/em/order_packages.cmake.em - -set(CATKIN_ORDERED_PACKAGES "") -set(CATKIN_ORDERED_PACKAGE_PATHS "") -set(CATKIN_ORDERED_PACKAGES_IS_META "") -set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") -list(APPEND CATKIN_ORDERED_PACKAGES "rosserial_msgs") -list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "firmware_commun/src/rosserial_msgs") -list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") -list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") -list(APPEND CATKIN_ORDERED_PACKAGES "flask_esp8266") -list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "flask_esp8266") -list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") -list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") -list(APPEND CATKIN_ORDERED_PACKAGES "rosserial_server") -list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "firmware_commun/src/rosserial_server") -list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") -list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") - -set(CATKIN_MESSAGE_GENERATORS ) - -set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.py b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.py deleted file mode 100644 index 27f7651..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/order_packages.py +++ /dev/null @@ -1,5 +0,0 @@ -# generated from catkin/cmake/template/order_packages.context.py.in -source_root_dir = '/root/comm-ws/src' -whitelisted_packages = ''.split(';') if '' != '' else [] -blacklisted_packages = ''.split(';') if '' != '' else [] -underlay_workspaces = '/opt/ros/noetic'.split(';') if '/opt/ros/noetic' != '' else [] diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/setup_cached.sh b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/setup_cached.sh deleted file mode 100644 index 34f04bd..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/setup_cached.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/python/catkin/environment_cache.py - -# based on a snapshot of the environment before and after calling the setup script -# it emulates the modifications of the setup script without recurring computations - -# new environment variables - -# modified environment variables -export CMAKE_PREFIX_PATH="/root/comm-ws/devel:$CMAKE_PREFIX_PATH" -export LD_LIBRARY_PATH="/root/comm-ws/devel/lib:$LD_LIBRARY_PATH" -export PKG_CONFIG_PATH="/root/comm-ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH" -export PWD='/root/comm-ws/build' -export PYTHONPATH="/root/comm-ws/devel/lib/python3/dist-packages:$PYTHONPATH" -export ROSLISP_PACKAGE_DIRECTORIES='/root/comm-ws/devel/share/common-lisp' -export ROS_PACKAGE_PATH="/root/comm-ws/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp deleted file mode 100644 index c8d8434..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python3 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python3/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp deleted file mode 100644 index 5e25fbf..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp +++ /dev/null @@ -1,255 +0,0 @@ -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -from __future__ import print_function - -import os -import runpy -import sys -from argparse import ArgumentParser - -setup_modules = [] - -try: - import distutils.core - setup_modules.append(distutils.core) -except ImportError: - pass - -try: - import setuptools - setup_modules.append(setuptools) -except ImportError: - pass - -assert setup_modules, 'Must have distutils or setuptools installed' - - -def _get_locations(pkgs, package_dir): - """ - Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. - - See http://docs.python.org/distutils/setupscript.html - - :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) - """ - # package_dir contains a dict {package_name: relativepath} - # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} - # - # '' means where to look for any package unless a parent package - # is listed so package bar.pot is expected at lib2/bar/pot, - # whereas package sup.dee is expected at src/sup/dee - # - # if package_dir does not state anything about a package, - # setuptool expects the package folder to be in the root of the - # project - locations = {} - allprefix = package_dir.get('', '') - for pkg in pkgs: - parent_location = None - splits = pkg.split('.') - # we iterate over compound name from parent to child - # so once we found parent, children just append to their parent - for key_len in range(len(splits)): - key = '.'.join(splits[:key_len + 1]) - if key not in locations: - if key in package_dir: - locations[key] = package_dir[key] - elif parent_location is not None: - locations[key] = os.path.join(parent_location, splits[key_len]) - else: - locations[key] = os.path.join(allprefix, key) - parent_location = locations[key] - return locations - - -def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): - """ - Generate lines to add to a cmake file which will set variables. - - :param version: str, format 'int.int.int' - :param scripts: [list of str]: relative paths to scripts - :param package_dir: {modulename: path} - :param pkgs: [list of str] python_packages declared in catkin package - :param modules: [list of str] python modules - :param setup_module: str, setuptools or distutils - """ - prefix = '%s_SETUP_PY' % package_name - result = [] - if setup_module: - result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) - result.append(r'set(%s_VERSION "%s")' % (prefix, version)) - result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) - - # Remove packages with '.' separators. - # - # setuptools allows specifying submodules in other folders than - # their parent - # - # The symlink approach of catkin does not work with such submodules. - # In the common case, this does not matter as the submodule is - # within the containing module. We verify this assumption, and if - # it passes, we remove submodule packages. - locations = _get_locations(pkgs, package_dir) - for pkgname, location in locations.items(): - if '.' not in pkgname: - continue - splits = pkgname.split('.') - # hack: ignore write-combining setup.py files for msg and srv files - if splits[1] in ['msg', 'srv']: - continue - # check every child has the same root folder as its parent - root_name = splits[0] - root_location = location - for _ in range(len(splits) - 1): - root_location = os.path.dirname(root_location) - if root_location != locations[root_name]: - raise RuntimeError( - 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) - - # If checks pass, remove all submodules - pkgs = [p for p in pkgs if '.' not in p] - - resolved_pkgs = [] - for pkg in pkgs: - resolved_pkgs += [locations[pkg]] - - result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) - result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) - - # skip modules which collide with package names - filtered_modules = [] - for modname in modules: - splits = modname.split('.') - # check all parents too - equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] - if any(equals_package): - continue - filtered_modules.append(modname) - module_locations = _get_locations(filtered_modules, package_dir) - - result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) - result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) - - return result - - -def _create_mock_setup_function(setup_module, package_name, outfile): - """ - Create a function to call instead of distutils.core.setup or setuptools.setup. - - It just captures some args and writes them into a file that can be used from cmake. - - :param package_name: name of the package - :param outfile: filename that cmake will use afterwards - :returns: a function to replace disutils.core.setup and setuptools.setup - """ - - def setup(*args, **kwargs): - """Check kwargs and write a scriptfile.""" - if 'version' not in kwargs: - sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) - raise RuntimeError('version not found in setup.py') - version = kwargs['version'] - package_dir = kwargs.get('package_dir', {}) - - pkgs = kwargs.get('packages', []) - scripts = kwargs.get('scripts', []) - modules = kwargs.get('py_modules', []) - - unsupported_args = [ - 'entry_points', - 'exclude_package_data', - 'ext_modules ', - 'ext_package', - 'include_package_data', - 'namespace_packages', - 'setup_requires', - 'use_2to3', - 'zip_safe'] - used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] - if used_unsupported_args: - sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) - - result = generate_cmake_file(package_name=package_name, - version=version, - scripts=scripts, - package_dir=package_dir, - pkgs=pkgs, - modules=modules, - setup_module=setup_module) - with open(outfile, 'w') as out: - out.write('\n'.join(result)) - - return setup - - -def main(): - """Script main, parses arguments and invokes Dummy.setup indirectly.""" - parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') - parser.add_argument('package_name', help='Name of catkin package') - parser.add_argument('setupfile_path', help='Full path to setup.py') - parser.add_argument('outfile', help='Where to write result to') - - args = parser.parse_args() - - # print("%s" % sys.argv) - # PACKAGE_NAME = sys.argv[1] - # OUTFILE = sys.argv[3] - # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), - # file=sys.stderr) - - # print("executing %s" % args.setupfile_path) - - # be sure you're in the directory containing - # setup.py so the sys.path manipulation works, - # so the import of __version__ works - os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) - - # patch setup() function of distutils and setuptools for the - # context of evaluating setup.py - backup_modules = {} - try: - - for module in setup_modules: - backup_modules[id(module)] = module.setup - module.setup = _create_mock_setup_function( - setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) - - runpy.run_path(args.setupfile_path) - finally: - for module in setup_modules: - module.setup = backup_modules[id(module)] - - -if __name__ == '__main__': - main() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp deleted file mode 100644 index 7ec7539..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp +++ /dev/null @@ -1,70 +0,0 @@ -# generated from catkin/cmake/em/order_packages.cmake.em -@{ -import os -try: - from catkin_pkg.cmake import get_metapackage_cmake_template_path -except ImportError as e: - raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) -try: - from catkin_pkg.topological_order import topological_order -except ImportError as e: - raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) -try: - from catkin_pkg.package import InvalidPackage -except ImportError as e: - raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) -# vars defined in order_packages.context.py.in -try: - ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) -except InvalidPackage as e: - print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) - ordered_packages = [] -fatal_error = False -}@ - -set(CATKIN_ORDERED_PACKAGES "") -set(CATKIN_ORDERED_PACKAGE_PATHS "") -set(CATKIN_ORDERED_PACKAGES_IS_META "") -set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") -@[for path, package in ordered_packages]@ -@[if path is None]@ -message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") -@{ -fatal_error = True -}@ -@[elif package.name != 'catkin']@ -list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") -list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") -list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") -@{ -package.evaluate_conditions(os.environ) -try: - build_type = package.get_build_type() -except InvalidPackage: - build_type = None -}@ -@[if build_type is None]@ -message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") -@{ -fatal_error = True -}@ -@[else]@ -list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") -@[end if]@ -@{ -deprecated = [e for e in package.exports if e.tagname == 'deprecated'] -}@ -@[if deprecated]@ -message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") -@[end if]@ -@[end if]@ -@[end for]@ - -@[if not fatal_error]@ -@{ -message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] -}@ -set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) -@[end if]@ - -set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/package.xml.stamp deleted file mode 100644 index 61e815f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_generated/stamps/Project/package.xml.stamp +++ /dev/null @@ -1,49 +0,0 @@ - - - - catkin - 0.8.10 - Low-level build system macros and infrastructure for ROS. - Michael Carroll - Tully Foote - BSD - - http://wiki.ros.org/catkin - https://github.com/ros/catkin/issues - https://github.com/ros/catkin - - Troy Straszheim - Morten Kjaergaard - Brian Gerkey - Dirk Thomas - - python-argparse - python-catkin-pkg - python3-catkin-pkg - python-empy - python3-empy - - cmake - python-setuptools - python3-setuptools - - cmake - python3-setuptools - - google-mock - gtest - python-nose - python3-nose - - python-mock - python3-mock - python-nose - python3-nose - - - - - - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/catkin_make.cache b/docker/local-ros2/OdomComm/comm-ws/build/catkin_make.cache deleted file mode 100644 index b531acd..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/catkin_make.cache +++ /dev/null @@ -1,2 +0,0 @@ -firmware_commun/src/rosserial_msgs:firmware_commun/src/rosserial_server:flask_esp8266 --DCATKIN_DEVEL_PREFIX=/root/comm-ws/devel -DCMAKE_INSTALL_PREFIX=/root/comm-ws/install -G Unix Makefiles \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/cmake_install.cmake deleted file mode 100644 index 3a28770..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/cmake_install.cmake +++ /dev/null @@ -1,149 +0,0 @@ -# Install script for directory: /root/comm-ws/src - -# Set the install prefix -if(NOT DEFINED CMAKE_INSTALL_PREFIX) - set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") -endif() -string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") - -# Set the install configuration name. -if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) - if(BUILD_TYPE) - string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" - CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") - else() - set(CMAKE_INSTALL_CONFIG_NAME "") - endif() - message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") -endif() - -# Set the component getting installed. -if(NOT CMAKE_INSTALL_COMPONENT) - if(COMPONENT) - message(STATUS "Install component: \"${COMPONENT}\"") - set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") - else() - set(CMAKE_INSTALL_COMPONENT) - endif() -endif() - -# Install shared libraries without execute permission? -if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) - set(CMAKE_INSTALL_SO_NO_EXE "1") -endif() - -# Is this installation the result of a crosscompile? -if(NOT DEFINED CMAKE_CROSSCOMPILING) - 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diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_commun.pc b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_commun.pc deleted file mode 100644 index 0b25649..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_commun.pc +++ /dev/null @@ -1,8 +0,0 @@ -prefix=/root/comm-ws/install - -Name: firmware_commun -Description: Description of firmware_commun -Version: 0.0.0 -Cflags: -Libs: -L${prefix}/lib -Requires: diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig-version.cmake deleted file mode 100644 index 7fd9f99..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake deleted file mode 100644 index f154122..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/installspace/firmware_communConfig.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(firmware_commun_CONFIG_INCLUDED) - return() -endif() -set(firmware_commun_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("FALSE" STREQUAL "TRUE") - set(firmware_commun_SOURCE_PREFIX /root/comm-ws/src/firmware_commun) - set(firmware_commun_DEVEL_PREFIX /root/comm-ws/devel) - set(firmware_commun_INSTALL_PREFIX "") - set(firmware_commun_PREFIX ${firmware_commun_DEVEL_PREFIX}) -else() - set(firmware_commun_SOURCE_PREFIX "") - set(firmware_commun_DEVEL_PREFIX "") - set(firmware_commun_INSTALL_PREFIX /root/comm-ws/install) - set(firmware_commun_PREFIX ${firmware_commun_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'firmware_commun' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(firmware_commun_FOUND_CATKIN_PROJECT TRUE) - -if(NOT " " STREQUAL " ") - set(firmware_commun_INCLUDE_DIRS "") - set(_include_dirs "") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${firmware_commun_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(firmware_commun_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND firmware_commun_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND firmware_commun_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT firmware_commun_NUM_DUMMY_TARGETS) - set(firmware_commun_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR firmware_commun_NUM_DUMMY_TARGETS "${firmware_commun_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND firmware_commun_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND firmware_commun_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND firmware_commun_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(firmware_commun_LIBRARY_DIRS ${lib_path}) - list(APPEND firmware_commun_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'firmware_commun'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND firmware_commun_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(firmware_commun_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${firmware_commun_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 firmware_commun_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${firmware_commun_dep}_FOUND) - find_package(${firmware_commun_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${firmware_commun_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(firmware_commun_INCLUDE_DIRS ${${firmware_commun_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${firmware_commun_dep}_LIBRARIES}) - _list_append_deduplicate(firmware_commun_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) - - _list_append_unique(firmware_commun_LIBRARY_DIRS ${${firmware_commun_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(firmware_commun_EXPORTED_TARGETS ${${firmware_commun_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${firmware_commun_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/ordered_paths.cmake deleted file mode 100644 index 454cf03..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/ordered_paths.cmake +++ /dev/null @@ -1 +0,0 @@ -set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/package.cmake deleted file mode 100644 index 251bbf5..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "firmware_commun") -set(firmware_commun_VERSION "0.0.0") -set(firmware_commun_MAINTAINER "root ") -set(firmware_commun_PACKAGE_FORMAT "2") -set(firmware_commun_BUILD_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") -set(firmware_commun_BUILD_EXPORT_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") -set(firmware_commun_BUILDTOOL_DEPENDS "catkin") -set(firmware_commun_BUILDTOOL_EXPORT_DEPENDS ) -set(firmware_commun_EXEC_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") -set(firmware_commun_RUN_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs") -set(firmware_commun_TEST_DEPENDS ) -set(firmware_commun_DOC_DEPENDS ) -set(firmware_commun_URL_WEBSITE "") -set(firmware_commun_URL_BUGTRACKER "") -set(firmware_commun_URL_REPOSITORY "") -set(firmware_commun_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index 7eb3ab2..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] -PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "firmware_commun" -PROJECT_SPACE_DIR = "/root/comm-ws/devel" -PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index c0258f6..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] -PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "firmware_commun" -PROJECT_SPACE_DIR = "/root/comm-ws/install" -PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/package.xml.stamp deleted file mode 100644 index ac44adb..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/catkin_generated/stamps/firmware_commun/package.xml.stamp +++ /dev/null @@ -1,71 +0,0 @@ - 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@echo "... all (the default if no target is provided)" - @echo "... clean" - @echo "... depend" - @echo "... install/strip" - @echo "... install/local" - @echo "... list_install_components" - @echo "... test" - @echo "... rosserial_msgs_generate_messages_py" - @echo "... _catkin_empty_exported_target" - @echo "... rosserial_msgs_genpy" - @echo "... rosserial_msgs_gencpp" - @echo "... rosserial_msgs_generate_messages" - @echo "... rosserial_msgs_geneus" - @echo "... rosserial_msgs_generate_messages_eus" - @echo "... _rosserial_msgs_generate_messages_check_deps_Log" - @echo "... rosserial_msgs_generate_messages_nodejs" - @echo "... rosserial_msgs_gennodejs" - @echo "... install" - @echo "... _rosserial_msgs_generate_messages_check_deps_TopicInfo" - @echo "... _rosserial_msgs_generate_messages_check_deps_RequestParam" - @echo "... rebuild_cache" - @echo "... edit_cache" - @echo "... rosserial_msgs_generate_messages_cpp" - @echo "... rosserial_msgs_genlisp" - @echo "... rosserial_msgs_generate_messages_lisp" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake deleted file mode 100644 index 7a84267..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake deleted file mode 100644 index 9141566..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake +++ /dev/null @@ -1,4 +0,0 @@ -# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in - -_prepend_path("${rosserial_msgs_DIR}/.." "msg" rosserial_msgs_MSG_INCLUDE_DIRS UNIQUE) -set(rosserial_msgs_MSG_DEPENDENCIES ) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc deleted file mode 100644 index 28316dc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc +++ /dev/null @@ -1,8 +0,0 @@ -prefix=/root/comm-ws/install - -Name: rosserial_msgs -Description: Description of rosserial_msgs -Version: 0.9.2 -Cflags: -I${prefix}/include -Libs: -L${prefix}/lib -Requires: message_runtime diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake deleted file mode 100644 index 742fb9a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.9.2") - -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/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake deleted file mode 100644 index 767f354..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(rosserial_msgs_CONFIG_INCLUDED) - return() -endif() -set(rosserial_msgs_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("FALSE" STREQUAL "TRUE") - set(rosserial_msgs_SOURCE_PREFIX /root/comm-ws/src/firmware_commun/src/rosserial_msgs) - set(rosserial_msgs_DEVEL_PREFIX /root/comm-ws/devel) - set(rosserial_msgs_INSTALL_PREFIX "") - set(rosserial_msgs_PREFIX ${rosserial_msgs_DEVEL_PREFIX}) -else() - set(rosserial_msgs_SOURCE_PREFIX "") - set(rosserial_msgs_DEVEL_PREFIX "") - set(rosserial_msgs_INSTALL_PREFIX /root/comm-ws/install) - set(rosserial_msgs_PREFIX ${rosserial_msgs_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'rosserial_msgs' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(rosserial_msgs_FOUND_CATKIN_PROJECT TRUE) - -if(NOT "include " STREQUAL " ") - set(rosserial_msgs_INCLUDE_DIRS "") - set(_include_dirs "include") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT "http://ros.org/wiki/rosserial_msgs " STREQUAL " ") - set(_report "Check the website 'http://ros.org/wiki/rosserial_msgs' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'Paul Bouchier , Mike Purvis ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${rosserial_msgs_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT rosserial_msgs_NUM_DUMMY_TARGETS) - set(rosserial_msgs_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR rosserial_msgs_NUM_DUMMY_TARGETS "${rosserial_msgs_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND rosserial_msgs_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND rosserial_msgs_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${lib_path}) - list(APPEND rosserial_msgs_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_msgs'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND rosserial_msgs_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(rosserial_msgs_EXPORTED_TARGETS "rosserial_msgs_generate_messages_cpp;rosserial_msgs_generate_messages_eus;rosserial_msgs_generate_messages_lisp;rosserial_msgs_generate_messages_nodejs;rosserial_msgs_generate_messages_py") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${rosserial_msgs_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "message_runtime") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 rosserial_msgs_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${rosserial_msgs_dep}_FOUND) - find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${${rosserial_msgs_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${rosserial_msgs_dep}_LIBRARIES}) - _list_append_deduplicate(rosserial_msgs_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) - - _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${${rosserial_msgs_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(rosserial_msgs_EXPORTED_TARGETS ${${rosserial_msgs_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "rosserial_msgs-msg-extras.cmake") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${rosserial_msgs_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/package.cmake deleted file mode 100644 index fbd53d8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "rosserial_msgs") -set(rosserial_msgs_VERSION "0.9.2") -set(rosserial_msgs_MAINTAINER "Paul Bouchier , Mike Purvis ") -set(rosserial_msgs_PACKAGE_FORMAT "1") -set(rosserial_msgs_BUILD_DEPENDS "message_generation") -set(rosserial_msgs_BUILD_EXPORT_DEPENDS "message_runtime") -set(rosserial_msgs_BUILDTOOL_DEPENDS "catkin") -set(rosserial_msgs_BUILDTOOL_EXPORT_DEPENDS ) -set(rosserial_msgs_EXEC_DEPENDS "message_runtime") -set(rosserial_msgs_RUN_DEPENDS "message_runtime") -set(rosserial_msgs_TEST_DEPENDS ) -set(rosserial_msgs_DOC_DEPENDS ) -set(rosserial_msgs_URL_WEBSITE "http://ros.org/wiki/rosserial_msgs") -set(rosserial_msgs_URL_BUGTRACKER "") -set(rosserial_msgs_URL_REPOSITORY "") -set(rosserial_msgs_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index c365aea..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/devel/include".split(';') if "/root/comm-ws/devel/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "rosserial_msgs" -PROJECT_SPACE_DIR = "/root/comm-ws/devel" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index 1ac1417..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "rosserial_msgs" -PROJECT_SPACE_DIR = "/root/comm-ws/install" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in deleted file mode 100644 index 1fe8307..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in deleted file mode 100644 index 7a84267..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp deleted file mode 100644 index 9f8ac6d..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp +++ /dev/null @@ -1,18 +0,0 @@ - - rosserial_msgs - 0.9.2 - - Messages for automatic topic configuration using rosserial. - - Michael Ferguson - Paul Bouchier - Mike Purvis - BSD - http://ros.org/wiki/rosserial_msgs - - catkin - - message_generation - - message_runtime - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp deleted file mode 100644 index eca9adc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp +++ /dev/null @@ -1,167 +0,0 @@ -# generated from genmsg/cmake/pkg-genmsg.cmake.em - -@{ -import os -import sys - -import genmsg -import genmsg.base -genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) -import genmsg.deps -import genmsg.gentools - -# split incoming variables -messages = messages_str.split(';') if messages_str != '' else [] -services = services_str.split(';') if services_str != '' else [] -dependencies = dependencies_str.split(';') if dependencies_str != '' else [] -dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] - -dep_search_paths_dict = {} -dep_search_paths_tuple_list = [] -is_even = True -for val in dep_search_paths: - if is_even: - dep_search_paths_dict.setdefault(val, []) - val_prev = val - is_even = False - else: - dep_search_paths_dict[val_prev].append(val) - dep_search_paths_tuple_list.append((val_prev, val)) - is_even = True -dep_search_paths = dep_search_paths_dict - -if not messages and not services: - print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') - -msg_deps = {} -msg_dep_types = {} -for m in messages: - try: - _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) - msg_deps[m] = [d[1] for d in _deps] - msg_dep_types[m] = [d[0] for d in _deps] - except genmsg.MsgNotFound as e: - print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) - -srv_deps = {} -srv_dep_types = {} -for s in services: - try: - _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) - srv_deps[s] = [d[1] for d in _deps] - srv_dep_types[s] = [d[0] for d in _deps] - except genmsg.MsgNotFound as e: - print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) - -}@ -message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") - -set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") - -# Find all generators -@[if langs]@ -@[for l in langs.split(';')]@ -find_package(@l REQUIRED) -@[end for]@ -@[end if]@ - -add_custom_target(@(pkg_name)_generate_messages ALL) - -# verify that message/service dependencies have not changed since configure -@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} -@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} -@[for f in all_deps.keys()]@ -@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} -get_filename_component(_filename "@(f)" NAME_WE) -add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" -) -@[end for]@# messages and services - -# -# langs = @langs -# - -@[if langs]@ -@[for l in langs.split(';')]@ -### Section generating for lang: @l -### Generating Messages -@[for m in msg_deps.keys()]@ -_generate_msg_@(l[3:])(@pkg_name - "@m" - "${MSG_I_FLAGS}" - "@(';'.join(msg_deps[m]).replace("\\","/"))" - ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name -) -@[end for]@# messages - -### Generating Services -@[for s in srv_deps.keys()]@ -_generate_srv_@(l[3:])(@pkg_name - "@s" - "${MSG_I_FLAGS}" - "@(';'.join(srv_deps[s]).replace("\\","/"))" - ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name -) -@[end for]@# services - -### Generating Module File -_generate_module_@(l[3:])(@pkg_name - ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name - "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" -) - -add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) - DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} -) -add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) - -# add dependencies to all check dependencies targets -@[for f in all_deps.keys()]@ -get_filename_component(_filename "@(f)" NAME_WE) -add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) -@[end for]@# messages and services - -# target for backward compatibility -add_custom_target(@(pkg_name)_@(l)) -add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) - -@[end for]@# langs -@[end if]@ - -@[if langs]@ -@[for l in langs.split(';')]@ - -if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) -@[if l == 'genpy']@ - install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") -@[end if]@ - # install generated code - install( - DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name - DESTINATION ${@(l)_INSTALL_DIR} -@[if l == 'genpy' and package_has_static_sources]@ - # skip all init files - PATTERN "__init__.py" EXCLUDE - PATTERN "__init__.pyc" EXCLUDE - ) - # install init files which are not in the root folder of the generated code - string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)") - install( - DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name - DESTINATION ${@(l)_INSTALL_DIR} - FILES_MATCHING - REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$" -@[end if]@ - ) -endif() -@[for d in dependencies]@ -if(TARGET @(d)_generate_messages_@(l[3:])) - add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) -endif() -@[end for]@# dependencies -@[end for]@# langs -@[end if]@ diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp deleted file mode 100644 index 549fb75..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp +++ /dev/null @@ -1,8 +0,0 @@ -prefix=@PROJECT_SPACE_DIR - -Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) -Description: Description of @PROJECT_NAME -Version: @PROJECT_VERSION -Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) -Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) -Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py deleted file mode 100644 index 7456c25..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py +++ /dev/null @@ -1,11 +0,0 @@ -# generated from genmsg/cmake/pkg-genmsg.context.in - -messages_str = "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" -services_str = "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" -pkg_name = "rosserial_msgs" -dependencies_str = "" -langs = "gencpp;geneus;genlisp;gennodejs;genpy" -dep_include_paths_str = "rosserial_msgs;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg" -PYTHON_EXECUTABLE = "/usr/bin/python3" -package_has_static_sources = '' == 'TRUE' -genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake deleted file mode 100644 index 7855559..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake +++ /dev/null @@ -1,325 +0,0 @@ -# generated from genmsg/cmake/pkg-genmsg.cmake.em - -message(STATUS "rosserial_msgs: 2 messages, 1 services") - -set(MSG_I_FLAGS "-Irosserial_msgs:/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg") - -# Find all generators -find_package(gencpp REQUIRED) -find_package(geneus REQUIRED) -find_package(genlisp REQUIRED) -find_package(gennodejs REQUIRED) -find_package(genpy REQUIRED) - -add_custom_target(rosserial_msgs_generate_messages ALL) - -# verify that message/service dependencies have not changed since configure - - - -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" "" -) - -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" "" -) - -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" "" -) - -# -# langs = gencpp;geneus;genlisp;gennodejs;genpy -# - -### Section generating for lang: gencpp -### Generating Messages -_generate_msg_cpp(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_cpp(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_cpp(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_cpp(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_cpp}" -) - -add_custom_target(rosserial_msgs_generate_messages_cpp - DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_cpp) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) - -# target for backward compatibility -add_custom_target(rosserial_msgs_gencpp) -add_dependencies(rosserial_msgs_gencpp rosserial_msgs_generate_messages_cpp) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_cpp) - -### Section generating for lang: geneus -### Generating Messages -_generate_msg_eus(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_eus(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_eus(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_eus(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_eus}" -) - -add_custom_target(rosserial_msgs_generate_messages_eus - DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_eus) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) - -# target for backward compatibility -add_custom_target(rosserial_msgs_geneus) -add_dependencies(rosserial_msgs_geneus rosserial_msgs_generate_messages_eus) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_eus) - -### Section generating for lang: genlisp -### Generating Messages -_generate_msg_lisp(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_lisp(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_lisp(rosserial_msgs - "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_lisp(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_lisp}" -) - -add_custom_target(rosserial_msgs_generate_messages_lisp - DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_lisp) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) 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It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(rosserial_server_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "rosserial_server_lookup") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT rosserial_server_NUM_DUMMY_TARGETS) - set(rosserial_server_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR rosserial_server_NUM_DUMMY_TARGETS "${rosserial_server_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND rosserial_server_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND rosserial_server_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(rosserial_server_LIBRARY_DIRS ${lib_path}) - list(APPEND rosserial_server_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_server'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND rosserial_server_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(rosserial_server_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${rosserial_server_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "roscpp;rosserial_msgs;std_msgs;topic_tools") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 rosserial_server_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${rosserial_server_dep}_FOUND) - find_package(${rosserial_server_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${rosserial_server_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(rosserial_server_INCLUDE_DIRS ${${rosserial_server_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${rosserial_server_dep}_LIBRARIES}) - _list_append_deduplicate(rosserial_server_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) - - _list_append_unique(rosserial_server_LIBRARY_DIRS ${${rosserial_server_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(rosserial_server_EXPORTED_TARGETS ${${rosserial_server_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${rosserial_server_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/ordered_paths.cmake deleted file mode 100644 index 454cf03..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/ordered_paths.cmake +++ /dev/null @@ -1 +0,0 @@ -set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/package.cmake deleted file mode 100644 index 466cc42..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "rosserial_server") -set(rosserial_server_VERSION "0.9.2") -set(rosserial_server_MAINTAINER "Mike Purvis ") -set(rosserial_server_PACKAGE_FORMAT "2") -set(rosserial_server_BUILD_DEPENDS "python3-dev" "libboost-thread-dev" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_BUILD_EXPORT_DEPENDS "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_BUILDTOOL_DEPENDS "catkin") -set(rosserial_server_BUILDTOOL_EXPORT_DEPENDS ) -set(rosserial_server_EXEC_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_RUN_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_TEST_DEPENDS ) -set(rosserial_server_DOC_DEPENDS ) -set(rosserial_server_URL_WEBSITE "") -set(rosserial_server_URL_BUGTRACKER "") -set(rosserial_server_URL_REPOSITORY "") -set(rosserial_server_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index 86fc0b5..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/src/firmware_commun/src/rosserial_server/include".split(';') if "/root/comm-ws/src/firmware_commun/src/rosserial_server/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] -PROJECT_NAME = "rosserial_server" -PROJECT_SPACE_DIR = "/root/comm-ws/devel" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index 497c07f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] -PROJECT_NAME = "rosserial_server" -PROJECT_SPACE_DIR = "/root/comm-ws/install" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp deleted file mode 100644 index df73c39..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/firmware_commun/src/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp +++ /dev/null @@ -1,23 +0,0 @@ - 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cd /root/comm-ws/build && $(MAKE) -f flask_esp8266/CMakeFiles/roscpp_generate_messages_lisp.dir/build.make flask_esp8266/CMakeFiles/roscpp_generate_messages_lisp.dir/build -.PHONY : roscpp_generate_messages_lisp/fast - -# Convenience name for target. -flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/rule: - cd /root/comm-ws/build && $(MAKE) -f CMakeFiles/Makefile2 flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/rule -.PHONY : flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/rule - -# Convenience name for target. -rosgraph_msgs_generate_messages_py: flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/rule - -.PHONY : rosgraph_msgs_generate_messages_py - -# fast build rule for target. -rosgraph_msgs_generate_messages_py/fast: - cd /root/comm-ws/build && $(MAKE) -f flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build.make flask_esp8266/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build -.PHONY : rosgraph_msgs_generate_messages_py/fast - -# Help Target -help: - @echo "The following are some of the valid targets for this Makefile:" - @echo "... all (the default if no target is provided)" - @echo "... clean" - @echo "... depend" - @echo "... install/local" - @echo "... rebuild_cache" - @echo "... edit_cache" - @echo "... test" - @echo "... std_msgs_generate_messages_py" - @echo "... std_msgs_generate_messages_nodejs" - @echo "... roscpp_generate_messages_cpp" - @echo "... roscpp_generate_messages_eus" - @echo "... rosgraph_msgs_generate_messages_nodejs" - @echo "... list_install_components" - @echo "... std_msgs_generate_messages_lisp" - @echo "... roscpp_generate_messages_py" - @echo "... install" - @echo "... std_msgs_generate_messages_eus" - @echo "... roscpp_generate_messages_nodejs" - @echo "... rosgraph_msgs_generate_messages_cpp" - @echo "... install/strip" - @echo "... std_msgs_generate_messages_cpp" - @echo "... rosgraph_msgs_generate_messages_eus" - @echo "... rosgraph_msgs_generate_messages_lisp" - @echo "... roscpp_generate_messages_lisp" - @echo "... rosgraph_msgs_generate_messages_py" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc deleted file mode 100644 index 43ffa35..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266.pc +++ /dev/null @@ -1,8 +0,0 @@ -prefix=/root/comm-ws/install - -Name: flask_esp8266 -Description: Description of flask_esp8266 -Version: 0.0.0 -Cflags: -Libs: -L${prefix}/lib -Requires: diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake deleted file mode 100644 index 7fd9f99..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-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/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake deleted file mode 100644 index 34d205c..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/installspace/flask_esp8266Config.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(flask_esp8266_CONFIG_INCLUDED) - return() -endif() -set(flask_esp8266_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("FALSE" STREQUAL "TRUE") - set(flask_esp8266_SOURCE_PREFIX /root/comm-ws/src/flask_esp8266) - set(flask_esp8266_DEVEL_PREFIX /root/comm-ws/devel) - set(flask_esp8266_INSTALL_PREFIX "") - set(flask_esp8266_PREFIX ${flask_esp8266_DEVEL_PREFIX}) -else() - set(flask_esp8266_SOURCE_PREFIX "") - set(flask_esp8266_DEVEL_PREFIX "") - set(flask_esp8266_INSTALL_PREFIX /root/comm-ws/install) - set(flask_esp8266_PREFIX ${flask_esp8266_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'flask_esp8266' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(flask_esp8266_FOUND_CATKIN_PROJECT TRUE) - -if(NOT " " STREQUAL " ") - set(flask_esp8266_INCLUDE_DIRS "") - set(_include_dirs "") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${flask_esp8266_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(flask_esp8266_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND flask_esp8266_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND flask_esp8266_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT flask_esp8266_NUM_DUMMY_TARGETS) - set(flask_esp8266_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR flask_esp8266_NUM_DUMMY_TARGETS "${flask_esp8266_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND flask_esp8266_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND flask_esp8266_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND flask_esp8266_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(flask_esp8266_LIBRARY_DIRS ${lib_path}) - list(APPEND flask_esp8266_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'flask_esp8266'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND flask_esp8266_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(flask_esp8266_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${flask_esp8266_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 flask_esp8266_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${flask_esp8266_dep}_FOUND) - find_package(${flask_esp8266_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${flask_esp8266_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(flask_esp8266_INCLUDE_DIRS ${${flask_esp8266_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${flask_esp8266_dep}_LIBRARIES}) - _list_append_deduplicate(flask_esp8266_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) - - _list_append_unique(flask_esp8266_LIBRARY_DIRS ${${flask_esp8266_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(flask_esp8266_EXPORTED_TARGETS ${${flask_esp8266_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${flask_esp8266_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/ordered_paths.cmake deleted file mode 100644 index 454cf03..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/ordered_paths.cmake +++ /dev/null @@ -1 +0,0 @@ -set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/package.cmake deleted file mode 100644 index 91443a9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "flask_esp8266") -set(flask_esp8266_VERSION "0.0.0") -set(flask_esp8266_MAINTAINER "root ") -set(flask_esp8266_PACKAGE_FORMAT "2") -set(flask_esp8266_BUILD_DEPENDS "roscpp" "rospy" "std_msgs") -set(flask_esp8266_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs") -set(flask_esp8266_BUILDTOOL_DEPENDS "catkin") -set(flask_esp8266_BUILDTOOL_EXPORT_DEPENDS ) -set(flask_esp8266_EXEC_DEPENDS "roscpp" "rospy" "std_msgs") -set(flask_esp8266_RUN_DEPENDS "roscpp" "rospy" "std_msgs") -set(flask_esp8266_TEST_DEPENDS ) -set(flask_esp8266_DOC_DEPENDS ) -set(flask_esp8266_URL_WEBSITE "") -set(flask_esp8266_URL_BUGTRACKER "") -set(flask_esp8266_URL_REPOSITORY "") -set(flask_esp8266_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index 0e2852f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] -PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "flask_esp8266" -PROJECT_SPACE_DIR = "/root/comm-ws/devel" -PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index 34d9370..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] -PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "flask_esp8266" -PROJECT_SPACE_DIR = "/root/comm-ws/install" -PROJECT_VERSION = "0.0.0" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/package.xml.stamp deleted file mode 100644 index 176331e..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/flask_esp8266/catkin_generated/stamps/flask_esp8266/package.xml.stamp +++ /dev/null @@ -1,68 +0,0 @@ - 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@echo "... rosserial_msgs_geneus" - @echo "... rosserial_msgs_generate_messages_eus" - @echo "... _rosserial_msgs_generate_messages_check_deps_Log" - @echo "... rosserial_msgs_generate_messages_nodejs" - @echo "... rosserial_msgs_gennodejs" - @echo "... install" - @echo "... _rosserial_msgs_generate_messages_check_deps_TopicInfo" - @echo "... _rosserial_msgs_generate_messages_check_deps_RequestParam" - @echo "... rebuild_cache" - @echo "... edit_cache" - @echo "... rosserial_msgs_generate_messages_cpp" - @echo "... rosserial_msgs_genlisp" - @echo "... rosserial_msgs_generate_messages_lisp" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - cd /root/comm-ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake deleted file mode 100644 index 7a84267..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-extras.cmake +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake deleted file mode 100644 index 9141566..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs-msg-paths.cmake +++ /dev/null @@ -1,4 +0,0 @@ -# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in - -_prepend_path("${rosserial_msgs_DIR}/.." "msg" rosserial_msgs_MSG_INCLUDE_DIRS UNIQUE) -set(rosserial_msgs_MSG_DEPENDENCIES ) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc deleted file mode 100644 index 28316dc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgs.pc +++ /dev/null @@ -1,8 +0,0 @@ -prefix=/root/comm-ws/install - -Name: rosserial_msgs -Description: Description of rosserial_msgs -Version: 0.9.2 -Cflags: -I${prefix}/include -Libs: -L${prefix}/lib -Requires: message_runtime diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake deleted file mode 100644 index 742fb9a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.9.2") - -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/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake deleted file mode 100644 index 9c10c45..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/installspace/rosserial_msgsConfig.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(rosserial_msgs_CONFIG_INCLUDED) - return() -endif() -set(rosserial_msgs_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("FALSE" STREQUAL "TRUE") - set(rosserial_msgs_SOURCE_PREFIX /root/comm-ws/src/rosserial_msgs) - set(rosserial_msgs_DEVEL_PREFIX /root/comm-ws/devel) - set(rosserial_msgs_INSTALL_PREFIX "") - set(rosserial_msgs_PREFIX ${rosserial_msgs_DEVEL_PREFIX}) -else() - set(rosserial_msgs_SOURCE_PREFIX "") - set(rosserial_msgs_DEVEL_PREFIX "") - set(rosserial_msgs_INSTALL_PREFIX /root/comm-ws/install) - set(rosserial_msgs_PREFIX ${rosserial_msgs_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'rosserial_msgs' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(rosserial_msgs_FOUND_CATKIN_PROJECT TRUE) - -if(NOT "include " STREQUAL " ") - set(rosserial_msgs_INCLUDE_DIRS "") - set(_include_dirs "include") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT "http://ros.org/wiki/rosserial_msgs " STREQUAL " ") - set(_report "Check the website 'http://ros.org/wiki/rosserial_msgs' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'Paul Bouchier , Mike Purvis ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${rosserial_msgs_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT rosserial_msgs_NUM_DUMMY_TARGETS) - set(rosserial_msgs_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR rosserial_msgs_NUM_DUMMY_TARGETS "${rosserial_msgs_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND rosserial_msgs_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND rosserial_msgs_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${lib_path}) - list(APPEND rosserial_msgs_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_msgs'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND rosserial_msgs_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(rosserial_msgs_EXPORTED_TARGETS "rosserial_msgs_generate_messages_cpp;rosserial_msgs_generate_messages_eus;rosserial_msgs_generate_messages_lisp;rosserial_msgs_generate_messages_nodejs;rosserial_msgs_generate_messages_py") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${rosserial_msgs_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "message_runtime") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 rosserial_msgs_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${rosserial_msgs_dep}_FOUND) - find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${${rosserial_msgs_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${rosserial_msgs_dep}_LIBRARIES}) - _list_append_deduplicate(rosserial_msgs_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) - - _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${${rosserial_msgs_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(rosserial_msgs_EXPORTED_TARGETS ${${rosserial_msgs_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "rosserial_msgs-msg-extras.cmake") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${rosserial_msgs_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/package.cmake deleted file mode 100644 index fbd53d8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "rosserial_msgs") -set(rosserial_msgs_VERSION "0.9.2") -set(rosserial_msgs_MAINTAINER "Paul Bouchier , Mike Purvis ") -set(rosserial_msgs_PACKAGE_FORMAT "1") -set(rosserial_msgs_BUILD_DEPENDS "message_generation") -set(rosserial_msgs_BUILD_EXPORT_DEPENDS "message_runtime") -set(rosserial_msgs_BUILDTOOL_DEPENDS "catkin") -set(rosserial_msgs_BUILDTOOL_EXPORT_DEPENDS ) -set(rosserial_msgs_EXEC_DEPENDS "message_runtime") -set(rosserial_msgs_RUN_DEPENDS "message_runtime") -set(rosserial_msgs_TEST_DEPENDS ) -set(rosserial_msgs_DOC_DEPENDS ) -set(rosserial_msgs_URL_WEBSITE "http://ros.org/wiki/rosserial_msgs") -set(rosserial_msgs_URL_BUGTRACKER "") -set(rosserial_msgs_URL_REPOSITORY "") -set(rosserial_msgs_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index c365aea..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/devel/include".split(';') if "/root/comm-ws/devel/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "rosserial_msgs" -PROJECT_SPACE_DIR = "/root/comm-ws/devel" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index 1ac1417..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "message_runtime".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "rosserial_msgs" -PROJECT_SPACE_DIR = "/root/comm-ws/install" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in deleted file mode 100644 index fbd748a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.develspace.in +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "/root/comm-ws/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in deleted file mode 100644 index 7a84267..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/rosserial_msgs-msg-extras.cmake.installspace.in +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "msg/Log.msg;msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp deleted file mode 100644 index 9f8ac6d..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/package.xml.stamp +++ /dev/null @@ -1,18 +0,0 @@ - - rosserial_msgs - 0.9.2 - - Messages for automatic topic configuration using rosserial. - - Michael Ferguson - Paul Bouchier - Mike Purvis - BSD - http://ros.org/wiki/rosserial_msgs - - catkin - - message_generation - - message_runtime - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp deleted file mode 100644 index eca9adc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg-genmsg.cmake.em.stamp +++ /dev/null @@ -1,167 +0,0 @@ -# generated from genmsg/cmake/pkg-genmsg.cmake.em - -@{ -import os -import sys - -import genmsg -import genmsg.base -genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ) -import genmsg.deps -import genmsg.gentools - -# split incoming variables -messages = messages_str.split(';') if messages_str != '' else [] -services = services_str.split(';') if services_str != '' else [] -dependencies = dependencies_str.split(';') if dependencies_str != '' else [] -dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else [] - -dep_search_paths_dict = {} -dep_search_paths_tuple_list = [] -is_even = True -for val in dep_search_paths: - if is_even: - dep_search_paths_dict.setdefault(val, []) - val_prev = val - is_even = False - else: - dep_search_paths_dict[val_prev].append(val) - dep_search_paths_tuple_list.append((val_prev, val)) - is_even = True -dep_search_paths = dep_search_paths_dict - -if not messages and not services: - print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")') - -msg_deps = {} -msg_dep_types = {} -for m in messages: - try: - _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths) - msg_deps[m] = [d[1] for d in _deps] - msg_dep_types[m] = [d[0] for d in _deps] - except genmsg.MsgNotFound as e: - print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"'))) - -srv_deps = {} -srv_dep_types = {} -for s in services: - try: - _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths) - srv_deps[s] = [d[1] for d in _deps] - srv_dep_types[s] = [d[0] for d in _deps] - except genmsg.MsgNotFound as e: - print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"'))) - -}@ -message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services") - -set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))") - -# Find all generators -@[if langs]@ -@[for l in langs.split(';')]@ -find_package(@l REQUIRED) -@[end for]@ -@[end if]@ - -add_custom_target(@(pkg_name)_generate_messages ALL) - -# verify that message/service dependencies have not changed since configure -@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))} -@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))} -@[for f in all_deps.keys()]@ -@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')} -get_filename_component(_filename "@(f)" NAME_WE) -add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)" -) -@[end for]@# messages and services - -# -# langs = @langs -# - -@[if langs]@ -@[for l in langs.split(';')]@ -### Section generating for lang: @l -### Generating Messages -@[for m in msg_deps.keys()]@ -_generate_msg_@(l[3:])(@pkg_name - "@m" - "${MSG_I_FLAGS}" - "@(';'.join(msg_deps[m]).replace("\\","/"))" - ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name -) -@[end for]@# messages - -### Generating Services -@[for s in srv_deps.keys()]@ -_generate_srv_@(l[3:])(@pkg_name - "@s" - "${MSG_I_FLAGS}" - "@(';'.join(srv_deps[s]).replace("\\","/"))" - ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name -) -@[end for]@# services - -### Generating Module File -_generate_module_@(l[3:])(@pkg_name - ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name - "${ALL_GEN_OUTPUT_FILES_@(l[3:])}" -) - -add_custom_target(@(pkg_name)_generate_messages_@(l[3:]) - DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])} -) -add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:])) - -# add dependencies to all check dependencies targets -@[for f in all_deps.keys()]@ -get_filename_component(_filename "@(f)" NAME_WE) -add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename}) -@[end for]@# messages and services - -# target for backward compatibility -add_custom_target(@(pkg_name)_@(l)) -add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:])) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:])) - -@[end for]@# langs -@[end if]@ - -@[if langs]@ -@[for l in langs.split(';')]@ - -if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name) -@[if l == 'genpy']@ - install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")") -@[end if]@ - # install generated code - install( - DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name - DESTINATION ${@(l)_INSTALL_DIR} -@[if l == 'genpy' and package_has_static_sources]@ - # skip all init files - PATTERN "__init__.py" EXCLUDE - PATTERN "__init__.pyc" EXCLUDE - ) - # install init files which are not in the root folder of the generated code - string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)") - install( - DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name - DESTINATION ${@(l)_INSTALL_DIR} - FILES_MATCHING - REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$" -@[end if]@ - ) -endif() -@[for d in dependencies]@ -if(TARGET @(d)_generate_messages_@(l[3:])) - add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:])) -endif() -@[end for]@# dependencies -@[end for]@# langs -@[end if]@ diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp deleted file mode 100644 index 549fb75..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/catkin_generated/stamps/rosserial_msgs/pkg.pc.em.stamp +++ /dev/null @@ -1,8 +0,0 @@ -prefix=@PROJECT_SPACE_DIR - -Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) -Description: Description of @PROJECT_NAME -Version: @PROJECT_VERSION -Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) -Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) -Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py deleted file mode 100644 index 005aa47..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg-context.py +++ /dev/null @@ -1,11 +0,0 @@ -# generated from genmsg/cmake/pkg-genmsg.context.in - -messages_str = "/root/comm-ws/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" -services_str = "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" -pkg_name = "rosserial_msgs" -dependencies_str = "" -langs = "gencpp;geneus;genlisp;gennodejs;genpy" -dep_include_paths_str = "rosserial_msgs;/root/comm-ws/src/rosserial_msgs/msg" -PYTHON_EXECUTABLE = "/usr/bin/python3" -package_has_static_sources = '' == 'TRUE' -genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake deleted file mode 100644 index a018f55..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_msgs/cmake/rosserial_msgs-genmsg.cmake +++ /dev/null @@ -1,325 +0,0 @@ -# generated from genmsg/cmake/pkg-genmsg.cmake.em - -message(STATUS "rosserial_msgs: 2 messages, 1 services") - -set(MSG_I_FLAGS "-Irosserial_msgs:/root/comm-ws/src/rosserial_msgs/msg") - -# Find all generators -find_package(gencpp REQUIRED) -find_package(geneus REQUIRED) -find_package(genlisp REQUIRED) -find_package(gennodejs REQUIRED) -find_package(genpy REQUIRED) - -add_custom_target(rosserial_msgs_generate_messages ALL) - -# verify that message/service dependencies have not changed since configure - - - -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" "" -) - -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" "" -) - -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_custom_target(_rosserial_msgs_generate_messages_check_deps_${_filename} - COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "rosserial_msgs" "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" "" -) - -# -# langs = gencpp;geneus;genlisp;gennodejs;genpy -# - -### Section generating for lang: gencpp -### Generating Messages -_generate_msg_cpp(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_cpp(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_cpp(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_cpp(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_cpp}" -) - -add_custom_target(rosserial_msgs_generate_messages_cpp - DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_cpp) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_cpp _rosserial_msgs_generate_messages_check_deps_${_filename}) - -# target for backward compatibility -add_custom_target(rosserial_msgs_gencpp) -add_dependencies(rosserial_msgs_gencpp rosserial_msgs_generate_messages_cpp) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_cpp) - -### Section generating for lang: geneus -### Generating Messages -_generate_msg_eus(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_eus(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_eus(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_eus(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_eus}" -) - -add_custom_target(rosserial_msgs_generate_messages_eus - DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_eus) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_eus _rosserial_msgs_generate_messages_check_deps_${_filename}) - -# target for backward compatibility -add_custom_target(rosserial_msgs_geneus) -add_dependencies(rosserial_msgs_geneus rosserial_msgs_generate_messages_eus) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_eus) - -### Section generating for lang: genlisp -### Generating Messages -_generate_msg_lisp(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_lisp(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_lisp(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_lisp(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_lisp}" -) - -add_custom_target(rosserial_msgs_generate_messages_lisp - DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_lisp) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_lisp _rosserial_msgs_generate_messages_check_deps_${_filename}) - -# target for backward compatibility -add_custom_target(rosserial_msgs_genlisp) -add_dependencies(rosserial_msgs_genlisp rosserial_msgs_generate_messages_lisp) - -# register target for catkin_package(EXPORTED_TARGETS) -list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS rosserial_msgs_generate_messages_lisp) - -### Section generating for lang: gennodejs -### Generating Messages -_generate_msg_nodejs(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/rosserial_msgs -) 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${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs -) -_generate_msg_py(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/msg/TopicInfo.msg" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs -) - -### Generating Services -_generate_srv_py(rosserial_msgs - "/root/comm-ws/src/rosserial_msgs/srv/RequestParam.srv" - "${MSG_I_FLAGS}" - "" - ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs -) - -### Generating Module File -_generate_module_py(rosserial_msgs - ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/rosserial_msgs - "${ALL_GEN_OUTPUT_FILES_py}" -) - -add_custom_target(rosserial_msgs_generate_messages_py - DEPENDS ${ALL_GEN_OUTPUT_FILES_py} -) -add_dependencies(rosserial_msgs_generate_messages rosserial_msgs_generate_messages_py) - -# add dependencies to all check dependencies targets -get_filename_component(_filename "/root/comm-ws/src/rosserial_msgs/msg/Log.msg" NAME_WE) -add_dependencies(rosserial_msgs_generate_messages_py 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z&u)J1A79RVsZU~kX~Bs^sqaF1)W0R1U->YjcltLTSet$G' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${rosserial_server_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(rosserial_server_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "rosserial_server_lookup") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT rosserial_server_NUM_DUMMY_TARGETS) - set(rosserial_server_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR rosserial_server_NUM_DUMMY_TARGETS "${rosserial_server_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND rosserial_server_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND rosserial_server_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(rosserial_server_LIBRARY_DIRS ${lib_path}) - list(APPEND rosserial_server_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_server'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND rosserial_server_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(rosserial_server_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${rosserial_server_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "roscpp;rosserial_msgs;std_msgs;topic_tools") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 rosserial_server_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${rosserial_server_dep}_FOUND) - find_package(${rosserial_server_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${rosserial_server_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(rosserial_server_INCLUDE_DIRS ${${rosserial_server_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${rosserial_server_dep}_LIBRARIES}) - _list_append_deduplicate(rosserial_server_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) - - _list_append_unique(rosserial_server_LIBRARY_DIRS ${${rosserial_server_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(rosserial_server_EXPORTED_TARGETS ${${rosserial_server_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${rosserial_server_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/ordered_paths.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/ordered_paths.cmake deleted file mode 100644 index 454cf03..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/ordered_paths.cmake +++ /dev/null @@ -1 +0,0 @@ -set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/package.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/package.cmake deleted file mode 100644 index 466cc42..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "rosserial_server") -set(rosserial_server_VERSION "0.9.2") -set(rosserial_server_MAINTAINER "Mike Purvis ") -set(rosserial_server_PACKAGE_FORMAT "2") -set(rosserial_server_BUILD_DEPENDS "python3-dev" "libboost-thread-dev" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_BUILD_EXPORT_DEPENDS "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_BUILDTOOL_DEPENDS "catkin") -set(rosserial_server_BUILDTOOL_EXPORT_DEPENDS ) -set(rosserial_server_EXEC_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_RUN_DEPENDS "libboost-thread" "rosserial_msgs" "std_msgs" "roscpp" "topic_tools") -set(rosserial_server_TEST_DEPENDS ) -set(rosserial_server_DOC_DEPENDS ) -set(rosserial_server_URL_WEBSITE "") -set(rosserial_server_URL_BUGTRACKER "") -set(rosserial_server_URL_REPOSITORY "") -set(rosserial_server_DEPRECATED "") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.develspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index 8ebb1a1..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/root/comm-ws/src/rosserial_server/include".split(';') if "/root/comm-ws/src/rosserial_server/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] -PROJECT_NAME = "rosserial_server" -PROJECT_SPACE_DIR = "/root/comm-ws/devel" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.installspace.context.pc.py b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index 497c07f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else [] -PROJECT_CATKIN_DEPENDS = "roscpp;rosserial_msgs;std_msgs;topic_tools".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "-lrosserial_server_lookup".split(';') if "-lrosserial_server_lookup" != "" else [] -PROJECT_NAME = "rosserial_server" -PROJECT_SPACE_DIR = "/root/comm-ws/install" -PROJECT_VERSION = "0.9.2" diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp deleted file mode 100644 index df73c39..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/package.xml.stamp +++ /dev/null @@ -1,23 +0,0 @@ - - - rosserial_server - 0.9.2 - - A more performance- and stability-oriented server alternative implemented - in C++ to rosserial_python. - - - Mike Purvis - Mike Purvis - - BSD - - catkin - rosserial_msgs - std_msgs - roscpp - topic_tools - python3-dev - libboost-thread-dev - libboost-thread - diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/pkg.pc.em.stamp b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/pkg.pc.em.stamp deleted file mode 100644 index 549fb75..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/catkin_generated/stamps/rosserial_server/pkg.pc.em.stamp +++ /dev/null @@ -1,8 +0,0 @@ -prefix=@PROJECT_SPACE_DIR - -Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) -Description: Description of @PROJECT_NAME -Version: @PROJECT_VERSION -Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) -Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) -Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/cmake_install.cmake b/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/cmake_install.cmake deleted file mode 100644 index 0eaec12..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/build/rosserial_server/cmake_install.cmake +++ /dev/null @@ -1,141 +0,0 @@ -# Install script for directory: /root/comm-ws/src/rosserial_server - -# Set the install prefix -if(NOT DEFINED CMAKE_INSTALL_PREFIX) - set(CMAKE_INSTALL_PREFIX "/root/comm-ws/install") -endif() -string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") - -# Set the install configuration name. -if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) - if(BUILD_TYPE) - string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" - CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") - else() - set(CMAKE_INSTALL_CONFIG_NAME "") - endif() - message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") -endif() - -# Set the component getting installed. -if(NOT CMAKE_INSTALL_COMPONENT) - if(COMPONENT) - message(STATUS "Install component: \"${COMPONENT}\"") - set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") - else() - set(CMAKE_INSTALL_COMPONENT) - endif() -endif() - -# Install shared libraries without execute permission? -if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) - set(CMAKE_INSTALL_SO_NO_EXE "1") -endif() - -# Is this installation the result of a crosscompile? -if(NOT DEFINED CMAKE_CROSSCOMPILING) - set(CMAKE_CROSSCOMPILING "FALSE") -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/root/comm-ws/build/rosserial_server/catkin_generated/installspace/rosserial_server.pc") -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_server/cmake" TYPE FILE FILES - "/root/comm-ws/build/rosserial_server/catkin_generated/installspace/rosserial_serverConfig.cmake" - "/root/comm-ws/build/rosserial_server/catkin_generated/installspace/rosserial_serverConfig-version.cmake" - ) -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_server" TYPE FILE FILES "/root/comm-ws/src/rosserial_server/package.xml") -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so") - file(RPATH_CHECK - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so" - RPATH "") - endif() - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/root/comm-ws/devel/lib/librosserial_server_lookup.so") - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so") - if(CMAKE_INSTALL_DO_STRIP) - execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librosserial_server_lookup.so") - endif() - endif() -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node") - file(RPATH_CHECK - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" - RPATH "") - endif() - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rosserial_server" TYPE EXECUTABLE FILES "/root/comm-ws/devel/lib/rosserial_server/serial_node") - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node") - file(RPATH_CHANGE - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node" - OLD_RPATH "/opt/ros/noetic/lib:/root/comm-ws/devel/lib:" - NEW_RPATH "") - if(CMAKE_INSTALL_DO_STRIP) - execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/serial_node") - endif() - endif() -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node") - file(RPATH_CHECK - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" - RPATH "") - endif() - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rosserial_server" TYPE EXECUTABLE FILES "/root/comm-ws/devel/lib/rosserial_server/socket_node") - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node") - file(RPATH_CHANGE - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node" - OLD_RPATH "/opt/ros/noetic/lib:/root/comm-ws/devel/lib:" - NEW_RPATH "") - if(CMAKE_INSTALL_DO_STRIP) - execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/socket_node") - endif() - endif() -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node") - file(RPATH_CHECK - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" - RPATH "") - endif() - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rosserial_server" TYPE EXECUTABLE FILES "/root/comm-ws/devel/lib/rosserial_server/udp_socket_node") - if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" AND - NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node") - file(RPATH_CHANGE - FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node" - OLD_RPATH "/opt/ros/noetic/lib:/root/comm-ws/devel/lib:" - NEW_RPATH "") - if(CMAKE_INSTALL_DO_STRIP) - execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rosserial_server/udp_socket_node") - endif() - endif() -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rosserial_server" TYPE DIRECTORY FILES "/root/comm-ws/src/rosserial_server/launch") -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/rosserial_server" TYPE DIRECTORY FILES "/root/comm-ws/src/rosserial_server/include/rosserial_server/") -endif() - diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/.built_by b/docker/local-ros2/OdomComm/comm-ws/devel/.built_by deleted file mode 100644 index 2e212dd..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/.built_by +++ /dev/null @@ -1 +0,0 @@ -catkin_make \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/.catkin b/docker/local-ros2/OdomComm/comm-ws/devel/.catkin deleted file mode 100644 index 1371c67..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/.catkin +++ /dev/null @@ -1 +0,0 @@ -/root/comm-ws/src \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/.rosinstall b/docker/local-ros2/OdomComm/comm-ws/devel/.rosinstall deleted file mode 100644 index 8600f9f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /root/comm-ws/devel/setup.sh diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/_setup_util.py b/docker/local-ros2/OdomComm/comm-ws/devel/_setup_util.py deleted file mode 100755 index c8d8434..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python3 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python3/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/cmake.lock b/docker/local-ros2/OdomComm/comm-ws/devel/cmake.lock deleted file mode 100644 index e69de29..0000000 diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/env.sh b/docker/local-ros2/OdomComm/comm-ws/devel/env.sh deleted file mode 100644 index 8aa9d24..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/Log.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/Log.h deleted file mode 100644 index 10b8d87..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/Log.h +++ /dev/null @@ -1,247 +0,0 @@ -// Generated by gencpp from file rosserial_msgs/Log.msg -// DO NOT EDIT! - - -#ifndef ROSSERIAL_MSGS_MESSAGE_LOG_H -#define ROSSERIAL_MSGS_MESSAGE_LOG_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace rosserial_msgs -{ -template -struct Log_ -{ - typedef Log_ Type; - - Log_() - : level(0) - , msg() { - } - Log_(const ContainerAllocator& _alloc) - : level(0) - , msg(_alloc) { - (void)_alloc; - } - - - - typedef uint8_t _level_type; - _level_type level; - - typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _msg_type; - _msg_type msg; - - - -// reducing the odds to have name collisions with Windows.h -#if defined(_WIN32) && defined(ROSDEBUG) - #undef ROSDEBUG -#endif -#if defined(_WIN32) && defined(INFO) - #undef INFO -#endif -#if defined(_WIN32) && defined(WARN) - #undef WARN -#endif -#if defined(_WIN32) && defined(ERROR) - #undef ERROR -#endif -#if defined(_WIN32) && defined(FATAL) - #undef FATAL -#endif - - enum { - ROSDEBUG = 0u, - INFO = 1u, - WARN = 2u, - ERROR = 3u, - FATAL = 4u, - }; - - - typedef boost::shared_ptr< ::rosserial_msgs::Log_ > Ptr; - typedef boost::shared_ptr< ::rosserial_msgs::Log_ const> ConstPtr; - -}; // struct Log_ - -typedef ::rosserial_msgs::Log_ > Log; - -typedef boost::shared_ptr< ::rosserial_msgs::Log > LogPtr; -typedef boost::shared_ptr< ::rosserial_msgs::Log const> LogConstPtr; - -// constants requiring out of line definition - - - - - - - - - - - - - -template -std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::Log_ & v) -{ -ros::message_operations::Printer< ::rosserial_msgs::Log_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::rosserial_msgs::Log_ & lhs, const ::rosserial_msgs::Log_ & rhs) -{ - return lhs.level == rhs.level && - lhs.msg == rhs.msg; -} - -template -bool operator!=(const ::rosserial_msgs::Log_ & lhs, const ::rosserial_msgs::Log_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace rosserial_msgs - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::rosserial_msgs::Log_ > - : TrueType - { }; - -template -struct IsMessage< ::rosserial_msgs::Log_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::Log_ > - : FalseType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::Log_ const> - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::Log_ > - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::Log_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::rosserial_msgs::Log_ > -{ - static const char* value() - { - return "11abd731c25933261cd6183bd12d6295"; - } - - static const char* value(const ::rosserial_msgs::Log_&) { return value(); } - static const uint64_t static_value1 = 0x11abd731c2593326ULL; - static const uint64_t static_value2 = 0x1cd6183bd12d6295ULL; -}; - -template -struct DataType< ::rosserial_msgs::Log_ > -{ - static const char* value() - { - return "rosserial_msgs/Log"; - } - - static const char* value(const ::rosserial_msgs::Log_&) { return value(); } -}; - -template -struct Definition< ::rosserial_msgs::Log_ > -{ - static const char* value() - { - return "\n" -"#ROS Logging Levels\n" -"uint8 ROSDEBUG=0\n" -"uint8 INFO=1\n" -"uint8 WARN=2\n" -"uint8 ERROR=3\n" -"uint8 FATAL=4\n" -"\n" -"uint8 level\n" -"string msg\n" -; - } - - static const char* value(const ::rosserial_msgs::Log_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::rosserial_msgs::Log_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.level); - stream.next(m.msg); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct Log_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::rosserial_msgs::Log_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::Log_& v) - { - s << indent << "level: "; - Printer::stream(s, indent + " ", v.level); - s << indent << "msg: "; - Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.msg); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // ROSSERIAL_MSGS_MESSAGE_LOG_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParam.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParam.h deleted file mode 100644 index 9f8ec83..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParam.h +++ /dev/null @@ -1,123 +0,0 @@ -// Generated by gencpp from file rosserial_msgs/RequestParam.msg -// DO NOT EDIT! - - -#ifndef ROSSERIAL_MSGS_MESSAGE_REQUESTPARAM_H -#define ROSSERIAL_MSGS_MESSAGE_REQUESTPARAM_H - -#include - - -#include -#include - - -namespace rosserial_msgs -{ - -struct RequestParam -{ - -typedef RequestParamRequest Request; -typedef RequestParamResponse Response; -Request request; -Response response; - -typedef Request RequestType; -typedef Response ResponseType; - -}; // struct RequestParam -} // namespace rosserial_msgs - - -namespace ros -{ -namespace service_traits -{ - - -template<> -struct MD5Sum< ::rosserial_msgs::RequestParam > { - static const char* value() - { - return "d7a0c2be00c9fd03cc69f2863de9c4d9"; - } - - static const char* value(const ::rosserial_msgs::RequestParam&) { return value(); } -}; - -template<> -struct DataType< ::rosserial_msgs::RequestParam > { - static const char* value() - { - return "rosserial_msgs/RequestParam"; - } - - static const char* value(const ::rosserial_msgs::RequestParam&) { return value(); } -}; - - -// service_traits::MD5Sum< ::rosserial_msgs::RequestParamRequest> should match -// service_traits::MD5Sum< ::rosserial_msgs::RequestParam > -template<> -struct MD5Sum< ::rosserial_msgs::RequestParamRequest> -{ - static const char* value() - { - return MD5Sum< ::rosserial_msgs::RequestParam >::value(); - } - static const char* value(const ::rosserial_msgs::RequestParamRequest&) - { - return value(); - } -}; - -// service_traits::DataType< ::rosserial_msgs::RequestParamRequest> should match -// service_traits::DataType< ::rosserial_msgs::RequestParam > -template<> -struct DataType< ::rosserial_msgs::RequestParamRequest> -{ - static const char* value() - { - return DataType< ::rosserial_msgs::RequestParam >::value(); - } - static const char* value(const ::rosserial_msgs::RequestParamRequest&) - { - return value(); - } -}; - -// service_traits::MD5Sum< ::rosserial_msgs::RequestParamResponse> should match -// service_traits::MD5Sum< ::rosserial_msgs::RequestParam > -template<> -struct MD5Sum< ::rosserial_msgs::RequestParamResponse> -{ - static const char* value() - { - return MD5Sum< ::rosserial_msgs::RequestParam >::value(); - } - static const char* value(const ::rosserial_msgs::RequestParamResponse&) - { - return value(); - } -}; - -// service_traits::DataType< ::rosserial_msgs::RequestParamResponse> should match -// service_traits::DataType< ::rosserial_msgs::RequestParam > -template<> -struct DataType< ::rosserial_msgs::RequestParamResponse> -{ - static const char* value() - { - return DataType< ::rosserial_msgs::RequestParam >::value(); - } - static const char* value(const ::rosserial_msgs::RequestParamResponse&) - { - return value(); - } -}; - -} // namespace service_traits -} // namespace ros - -#endif // ROSSERIAL_MSGS_MESSAGE_REQUESTPARAM_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamRequest.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamRequest.h deleted file mode 100644 index d89f3ff..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamRequest.h +++ /dev/null @@ -1,196 +0,0 @@ -// Generated by gencpp from file rosserial_msgs/RequestParamRequest.msg -// DO NOT EDIT! - - -#ifndef ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMREQUEST_H -#define ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMREQUEST_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace rosserial_msgs -{ -template -struct RequestParamRequest_ -{ - typedef RequestParamRequest_ Type; - - RequestParamRequest_() - : name() { - } - RequestParamRequest_(const ContainerAllocator& _alloc) - : name(_alloc) { - (void)_alloc; - } - - - - typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _name_type; - _name_type name; - - - - - - typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest_ > Ptr; - typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest_ const> ConstPtr; - -}; // struct RequestParamRequest_ - -typedef ::rosserial_msgs::RequestParamRequest_ > RequestParamRequest; - -typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest > RequestParamRequestPtr; -typedef boost::shared_ptr< ::rosserial_msgs::RequestParamRequest const> RequestParamRequestConstPtr; - -// constants requiring out of line definition - - - -template -std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::RequestParamRequest_ & v) -{ -ros::message_operations::Printer< ::rosserial_msgs::RequestParamRequest_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::rosserial_msgs::RequestParamRequest_ & lhs, const ::rosserial_msgs::RequestParamRequest_ & rhs) -{ - return lhs.name == rhs.name; -} - -template -bool operator!=(const ::rosserial_msgs::RequestParamRequest_ & lhs, const ::rosserial_msgs::RequestParamRequest_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace rosserial_msgs - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::rosserial_msgs::RequestParamRequest_ > - : TrueType - { }; - -template -struct IsMessage< ::rosserial_msgs::RequestParamRequest_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::RequestParamRequest_ > - : FalseType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::RequestParamRequest_ const> - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::RequestParamRequest_ > - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::RequestParamRequest_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::rosserial_msgs::RequestParamRequest_ > -{ - static const char* value() - { - return "c1f3d28f1b044c871e6eff2e9fc3c667"; - } - - static const char* value(const ::rosserial_msgs::RequestParamRequest_&) { return value(); } - static const uint64_t static_value1 = 0xc1f3d28f1b044c87ULL; - static const uint64_t static_value2 = 0x1e6eff2e9fc3c667ULL; -}; - -template -struct DataType< ::rosserial_msgs::RequestParamRequest_ > -{ - static const char* value() - { - return "rosserial_msgs/RequestParamRequest"; - } - - static const char* value(const ::rosserial_msgs::RequestParamRequest_&) { return value(); } -}; - -template -struct Definition< ::rosserial_msgs::RequestParamRequest_ > -{ - static const char* value() - { - return "string name\n" -"\n" -; - } - - static const char* value(const ::rosserial_msgs::RequestParamRequest_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::rosserial_msgs::RequestParamRequest_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.name); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct RequestParamRequest_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::rosserial_msgs::RequestParamRequest_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::RequestParamRequest_& v) - { - s << indent << "name: "; - Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.name); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMREQUEST_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamResponse.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamResponse.h deleted file mode 100644 index 11f796b..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/RequestParamResponse.h +++ /dev/null @@ -1,229 +0,0 @@ -// Generated by gencpp from file rosserial_msgs/RequestParamResponse.msg -// DO NOT EDIT! - - -#ifndef ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMRESPONSE_H -#define ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMRESPONSE_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace rosserial_msgs -{ -template -struct RequestParamResponse_ -{ - typedef RequestParamResponse_ Type; - - RequestParamResponse_() - : ints() - , floats() - , strings() { - } - RequestParamResponse_(const ContainerAllocator& _alloc) - : ints(_alloc) - , floats(_alloc) - , strings(_alloc) { - (void)_alloc; - } - - - - typedef std::vector::template rebind_alloc> _ints_type; - _ints_type ints; - - typedef std::vector::template rebind_alloc> _floats_type; - _floats_type floats; - - typedef std::vector, typename std::allocator_traits::template rebind_alloc>, typename std::allocator_traits::template rebind_alloc, typename std::allocator_traits::template rebind_alloc>>> _strings_type; - _strings_type strings; - - - - - - typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse_ > Ptr; - typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse_ const> ConstPtr; - -}; // struct RequestParamResponse_ - -typedef ::rosserial_msgs::RequestParamResponse_ > RequestParamResponse; - -typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse > RequestParamResponsePtr; -typedef boost::shared_ptr< ::rosserial_msgs::RequestParamResponse const> RequestParamResponseConstPtr; - -// constants requiring out of line definition - - - -template -std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::RequestParamResponse_ & v) -{ -ros::message_operations::Printer< ::rosserial_msgs::RequestParamResponse_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::rosserial_msgs::RequestParamResponse_ & lhs, const ::rosserial_msgs::RequestParamResponse_ & rhs) -{ - return lhs.ints == rhs.ints && - lhs.floats == rhs.floats && - lhs.strings == rhs.strings; -} - -template -bool operator!=(const ::rosserial_msgs::RequestParamResponse_ & lhs, const ::rosserial_msgs::RequestParamResponse_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace rosserial_msgs - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::rosserial_msgs::RequestParamResponse_ > - : TrueType - { }; - -template -struct IsMessage< ::rosserial_msgs::RequestParamResponse_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::RequestParamResponse_ > - : FalseType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::RequestParamResponse_ const> - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::RequestParamResponse_ > - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::RequestParamResponse_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::rosserial_msgs::RequestParamResponse_ > -{ - static const char* value() - { - return "9f0e98bda65981986ddf53afa7a40e49"; - } - - static const char* value(const ::rosserial_msgs::RequestParamResponse_&) { return value(); } - static const uint64_t static_value1 = 0x9f0e98bda6598198ULL; - static const uint64_t static_value2 = 0x6ddf53afa7a40e49ULL; -}; - -template -struct DataType< ::rosserial_msgs::RequestParamResponse_ > -{ - static const char* value() - { - return "rosserial_msgs/RequestParamResponse"; - } - - static const char* value(const ::rosserial_msgs::RequestParamResponse_&) { return value(); } -}; - -template -struct Definition< ::rosserial_msgs::RequestParamResponse_ > -{ - static const char* value() - { - return "\n" -"int32[] ints\n" -"float32[] floats\n" -"string[] strings\n" -"\n" -; - } - - static const char* value(const ::rosserial_msgs::RequestParamResponse_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::rosserial_msgs::RequestParamResponse_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.ints); - stream.next(m.floats); - stream.next(m.strings); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct RequestParamResponse_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::rosserial_msgs::RequestParamResponse_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::RequestParamResponse_& v) - { - s << indent << "ints[]" << std::endl; - for (size_t i = 0; i < v.ints.size(); ++i) - { - s << indent << " ints[" << i << "]: "; - Printer::stream(s, indent + " ", v.ints[i]); - } - s << indent << "floats[]" << std::endl; - for (size_t i = 0; i < v.floats.size(); ++i) - { - s << indent << " floats[" << i << "]: "; - Printer::stream(s, indent + " ", v.floats[i]); - } - s << indent << "strings[]" << std::endl; - for (size_t i = 0; i < v.strings.size(); ++i) - { - s << indent << " strings[" << i << "]: "; - Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.strings[i]); - } - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // ROSSERIAL_MSGS_MESSAGE_REQUESTPARAMRESPONSE_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/TopicInfo.h b/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/TopicInfo.h deleted file mode 100644 index bf9f766..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/include/rosserial_msgs/TopicInfo.h +++ /dev/null @@ -1,303 +0,0 @@ -// Generated by gencpp from file rosserial_msgs/TopicInfo.msg -// DO NOT EDIT! - - -#ifndef ROSSERIAL_MSGS_MESSAGE_TOPICINFO_H -#define ROSSERIAL_MSGS_MESSAGE_TOPICINFO_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace rosserial_msgs -{ -template -struct TopicInfo_ -{ - typedef TopicInfo_ Type; - - TopicInfo_() - : topic_id(0) - , topic_name() - , message_type() - , md5sum() - , buffer_size(0) { - } - TopicInfo_(const ContainerAllocator& _alloc) - : topic_id(0) - , topic_name(_alloc) - , message_type(_alloc) - , md5sum(_alloc) - , buffer_size(0) { - (void)_alloc; - } - - - - typedef uint16_t _topic_id_type; - _topic_id_type topic_id; - - typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _topic_name_type; - _topic_name_type topic_name; - - typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _message_type_type; - _message_type_type message_type; - - typedef std::basic_string, typename std::allocator_traits::template rebind_alloc> _md5sum_type; - _md5sum_type md5sum; - - typedef int32_t _buffer_size_type; - _buffer_size_type buffer_size; - - - -// reducing the odds to have name collisions with Windows.h -#if defined(_WIN32) && defined(ID_PUBLISHER) - #undef ID_PUBLISHER -#endif -#if defined(_WIN32) && defined(ID_SUBSCRIBER) - #undef ID_SUBSCRIBER -#endif -#if defined(_WIN32) && defined(ID_SERVICE_SERVER) - #undef ID_SERVICE_SERVER -#endif -#if defined(_WIN32) && defined(ID_SERVICE_CLIENT) - #undef ID_SERVICE_CLIENT -#endif -#if defined(_WIN32) && defined(ID_PARAMETER_REQUEST) - #undef ID_PARAMETER_REQUEST -#endif -#if defined(_WIN32) && defined(ID_LOG) - #undef ID_LOG -#endif -#if defined(_WIN32) && defined(ID_TIME) - #undef ID_TIME -#endif -#if defined(_WIN32) && defined(ID_TX_STOP) - #undef ID_TX_STOP -#endif - - enum { - ID_PUBLISHER = 0u, - ID_SUBSCRIBER = 1u, - ID_SERVICE_SERVER = 2u, - ID_SERVICE_CLIENT = 4u, - ID_PARAMETER_REQUEST = 6u, - ID_LOG = 7u, - ID_TIME = 10u, - ID_TX_STOP = 11u, - }; - - - typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo_ > Ptr; - typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo_ const> ConstPtr; - -}; // struct TopicInfo_ - -typedef ::rosserial_msgs::TopicInfo_ > TopicInfo; - -typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo > TopicInfoPtr; -typedef boost::shared_ptr< ::rosserial_msgs::TopicInfo const> TopicInfoConstPtr; - -// constants requiring out of line definition - - - - - - - - - - - - - - - - - - - -template -std::ostream& operator<<(std::ostream& s, const ::rosserial_msgs::TopicInfo_ & v) -{ -ros::message_operations::Printer< ::rosserial_msgs::TopicInfo_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::rosserial_msgs::TopicInfo_ & lhs, const ::rosserial_msgs::TopicInfo_ & rhs) -{ - return lhs.topic_id == rhs.topic_id && - lhs.topic_name == rhs.topic_name && - lhs.message_type == rhs.message_type && - lhs.md5sum == rhs.md5sum && - lhs.buffer_size == rhs.buffer_size; -} - -template -bool operator!=(const ::rosserial_msgs::TopicInfo_ & lhs, const ::rosserial_msgs::TopicInfo_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace rosserial_msgs - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::rosserial_msgs::TopicInfo_ > - : TrueType - { }; - -template -struct IsMessage< ::rosserial_msgs::TopicInfo_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::TopicInfo_ > - : FalseType - { }; - -template -struct IsFixedSize< ::rosserial_msgs::TopicInfo_ const> - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::TopicInfo_ > - : FalseType - { }; - -template -struct HasHeader< ::rosserial_msgs::TopicInfo_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::rosserial_msgs::TopicInfo_ > -{ - static const char* value() - { - return "0ad51f88fc44892f8c10684077646005"; - } - - static const char* value(const ::rosserial_msgs::TopicInfo_&) { return value(); } - static const uint64_t static_value1 = 0x0ad51f88fc44892fULL; - static const uint64_t static_value2 = 0x8c10684077646005ULL; -}; - -template -struct DataType< ::rosserial_msgs::TopicInfo_ > -{ - static const char* value() - { - return "rosserial_msgs/TopicInfo"; - } - - static const char* value(const ::rosserial_msgs::TopicInfo_&) { return value(); } -}; - -template -struct Definition< ::rosserial_msgs::TopicInfo_ > -{ - static const char* value() - { - return "# special topic_ids\n" -"uint16 ID_PUBLISHER=0\n" -"uint16 ID_SUBSCRIBER=1\n" -"uint16 ID_SERVICE_SERVER=2\n" -"uint16 ID_SERVICE_CLIENT=4\n" -"uint16 ID_PARAMETER_REQUEST=6\n" -"uint16 ID_LOG=7\n" -"uint16 ID_TIME=10\n" -"uint16 ID_TX_STOP=11\n" -"\n" -"# The endpoint ID for this topic\n" -"uint16 topic_id\n" -"\n" -"string topic_name\n" -"string message_type\n" -"\n" -"# MD5 checksum for this message type\n" -"string md5sum\n" -"\n" -"# size of the buffer message must fit in\n" -"int32 buffer_size\n" -; - } - - static const char* value(const ::rosserial_msgs::TopicInfo_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::rosserial_msgs::TopicInfo_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.topic_id); - stream.next(m.topic_name); - stream.next(m.message_type); - stream.next(m.md5sum); - stream.next(m.buffer_size); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct TopicInfo_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::rosserial_msgs::TopicInfo_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::rosserial_msgs::TopicInfo_& v) - { - s << indent << "topic_id: "; - Printer::stream(s, indent + " ", v.topic_id); - s << indent << "topic_name: "; - Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.topic_name); - s << indent << "message_type: "; - Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.message_type); - s << indent << "md5sum: "; - Printer, typename std::allocator_traits::template rebind_alloc>>::stream(s, indent + " ", v.md5sum); - s << indent << "buffer_size: "; - Printer::stream(s, indent + " ", v.buffer_size); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // ROSSERIAL_MSGS_MESSAGE_TOPICINFO_H diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/lib/librosserial_server_lookup.so b/docker/local-ros2/OdomComm/comm-ws/devel/lib/librosserial_server_lookup.so deleted file mode 100644 index 8e8f36d0abd1119ec5c829a533e288c6075fcb0f..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 24112 zcmeHP4|H5rnZJ`{XlX(lmKF;L9STLtpJ~!IrLfDAw3&8d8ycEME5g1`Cevgj$qX}Z zXrid8X;@}MG`M!HifnaVMOd`1D6DHGP%z~P8U(cNS+s~8CktwffE5?Azwh4rz1(@3 z2X^4Nd-mk!Ouqa5zCZWg@7;IbyZ60!KOEY;p~UACoJz%C3*z>ltB_hPNWM#FKx)NW zQI7vh#930eY+5uUw_}lln2JipQyG5B2IwDBK>l~=*$WiU)U=c3RcU<}-KZA&-62N3PrtQYG9aBLHlr){II6>8*-yIrv(}31v>b5(q?cDTS zZO4?#pw#@F-BwI_P1>%qTKRF)8x<^=a(P$5j^gsCCVkk&R$ZRgaj4bpW=j2p5|v9n zsLyP?vW3DuLKq(|$}iMB$+te%a_2|S|JdQ-JC^J}xU=o4+n+k|NrfiL9 zqjPr;@Anb*4*ZtmcizvpJoM`y-nL|Q&sXLRonk+<@bT}T@v99l|L59&9l8GHyGO47 zhqFhn|IxCM>lc+D;BdeyKaI{2;xFpZ92&<>BWG9`*lQ zk2u6V${q9YAMn73Jlad=Kmb2?I^f~wX^-{-F6ieX5BwaQEQOBa&pg^ogF_+xU1-FCETQSz63vn`&KA`ef|gh5We7Ig%4@{<>*(0-==Z)^Qgvusqr6Z z{SV3b%omR?Q@}kaPbT2x=O_gPNf$4!@xXry9nwGG(*KAD-lFk7tsN+uQ0^|VP)1L6b@j^DNID)xg;VkF_J-)pf|?^JEwsK`S-y_%H`J&v zy7c-t_U)-ry{a>jxGs}yjHT0&_E>1^CPedin;&Yfu>_*r&>goCR((`99lxX1II3-- zXcsyP9bJMmHEp6;z7_7az?*bg zWb0~Vw@1Hj>TT#sCUC+k(wJz=(E0fmv{*Kl>-gpaNG<00(U_2bz|l*J>)Z&yme%*h zqPDd$X4lzvs#%T(fLprb(L`I!s!O+Q+pw16eEeO0O(dO;w|8?7E}|RO#JZApZ?QvH zq*)cM2Gvw7?__J~-h~s=+8Rq|x^T#8;ErBrMLVvuc1GfzG@SSJSjku_ouI+k?zL{H zDlQ80;54tMo?lc9lgStc4rdfN-T`b)L^(iTlyzvfS9c|Dh&602qB5b-7V3O!QZaI2 zrD8jAf$NUO8n#)X)pl<(7NUMyTtgA2Ejmg?bd=R;jLgOMlS@)Dd9@7DU{^#~IK((c zU7|DIn(VbZ65XqUYlG=TusT>pSlVujUU(q^Ylv-+VhECA;-U`jzJ6Qk5(c^0xPHC0 z3eGleZdkY8S{YpJf2RDSz*Xsj0Nw{Ndo*I-o#SDA2dB~2A^`-NW#=2In@n^BG^ zB|ma>6QwYPD;aK?Wl|D9=3s^XlnzNQ!lan*cbm@ZEf->rXw?&CAN*gY<#g|~FdjdN zW_0hqrj}6&_VSN|^NT)>J@M7+a0gu`ZqfYp$3BTBmWWS+r^M?8 zniWm@e(`Xlk~3bZ@v5uxapuRiD4ZgM0-bckz~?)t5JwICbOX;B_?ZSiVc=&O_%Q=t zYT#>iJ#kwr-e%y7n-oLGjAWbw27V5MpywMn^$ku{298^BC#^Mb)o+xj*1-8zoFrib z=YB+ZlY#RwAbh)lqa!$Jhk?&?P$4=D939O`NdvENP$7B@939U|eFlDkg9>r8fxpAR zhYkE(1K(%h3k-a}fma&%9R_aBuMQZv?wZo-J_F}D6$wTR{6fS3VFN$Kz{d=n)?YXs zG4S&k1U+itdTCHfa|V8@p+8~Ziw*pkfuCmJLicCtBWD=+Tmyf*fma&1o*GK&Vgp}d z=m!iuVBqH)_}KjJmQ&UsJlBWscMr-=~S@9;DMLi-(_Cgy0r!_!0v?RR*Z0HOU3PYVTT zzr)i+2<>-xngF5w4o?dRXureL!U5Xv@H7EJ`(Neu2PFTD!_$NZ$KT;;fdTDj9=#`q zxz&Ot^+NU^@Sk<@dtLmHiyv_DA9V2<7vJUL-Q{2FlDD|{Mi(D)@t3>!8W(@Di(lsA z&vfyNT>MEc-tXdH#bZM=o-euhU%B|_T>R56{wWv#n2Ued#UFI>-*EAFyZC>0@t<|^ zdtLkx^WmY(KZSgF$p3L7mmaehVW>I}OA|Cyoj7%L!ID1oHgQN(=*OjgO)HV*uZ6P{ z;Rk+wMfibZrD5N9!;imaFNA}aur@;u=1v{mDdWiYG@kWcz6`b^b74!k|MEL&6(^j1 z&aMa#Uj7=&%`Hd2&b481_^$s|@V;wd>y%IS^F`|viAr`TX?W++4-_npfN4xGa)NdqO%;r42RtpkFKXmE!0F zU{K^}?k>_B3hfUM4M~SXi-u(tzE8sMDB%c-p_Ye-8uy2@Qt~28pmoO|m8$?@*#SYG zhe9Ld;4u=BcjO*?VgxsmaKSj^-{>Rp~=`mBOOl=_Xu3#%8k{`*h>>a^ooC zLyKO;6iJp7I3!ZNQa2=-E92mPmG8C6B3O6Fulu9eZ! z?H|p3n*ubb8b4I?Jz0y<+`c~m%??yjOC90AY2gQya4`w{4-!GV?sVdHn-tT*?n9@N zXVp;6fVQ0?p^OItF|=s6gk^VIq$J!8dZs0RJSJ^89yh9XgB{H^u{-4JRbIwpE#(LO zr(s=H1z?5D$pBm}^dF?A3VRt^E6?(w?Ez$E`=OI1cj{<#OY6@{rNIFi z11NM%D>RY<`#X#M^^XLozGKkaGh)xVkM0Mb_uq&A0{rQw+EC3t+})A(R@n-t7ALDC z$7RylG0Z1DwCiP<)R+Ob2JCPcgJoNIl^VtQ+x9FQ&Z2+AzcOTr%F8yaQp{ZC>U_}Y_UrO+ly(&Wl=l49uA)xMQ`AM3xjAiK=T^ zaS3h4rF$*vg!*U3aP2yHMF#THl-n_O3WPGxj33VSK?+!&Es~O{7gYnNZw=nK zT_H4gG#8RSLq}DEMswd#H9JhQN2J%5qhTMF#Uc2*)Brlzs3Ri>z6zymM&>m5o)MWg z(o>Q7vMOu()J9~UQY|^o$b3vjWHh%+IyWQp-0$3x;SPB1A$jV`Ik7VfrjhLbcUqB2 zr&h$fqn(+y*b3*xgB1z+R!^`)G~pebSX-b=y#p7Zmox(EmA^n+B9;zxC+vVW4@3g# z&Pci=K<^tyqIhdDDD+#MLbP<#tBV0U5s1q-rW}u5@|~%Gp+GOXIpQchrUL?H1X$DB znd$7b>{yR2tgf~iyniFsORb%Wlw&6XZSgi)yJ(`@j>Nk~tS5;VmCzP#6o}w`rFd(` zjs?X$;X9-BFX>%(S^}v2&D7LB(5Bx`O^tx=06hZQfbLX@0qmooRiNJnJph`-HERO$ z{h&?Y$3T;yQ=mscZ^7LNUMUbi1`U9Ik?w;*X=2?0N{OGL`rf})_C^ls%pWfXq`yLo>!#i&& z?Jq0++zBX(bT;F+1mz5oeieesdZGT(k`GVUXAeYsptlKnj!wxssX%@x9$$t02cTug z3?1_Gz_g!7;pbgA_J#aV++KiuH{|m9JJ+Q_*+VR*rhGU1)?jgL(C5E-p7@gQf z7k&O`E5xlO{_jscYgo9<>Cu||L4oa*ZuyXa`BN9HbSRwj{n{Y@##7K&sT_h=JTN-Di`hcdJdF-le8Q^Bzj|ny*l-5CN4rN%ITk&Abr& z?j^q;&F@@lbHVQ{^Lx^C-%E+*FTFOEAbvv6N%&rJ7%QZda7!;!t$ukJk2_@gqIOWO z`Nf)QHB8zRz*C*D7A(|y+P(A6^J4uHEaT_XGhHOEC(Y|9VOd`$E)P!?Wc~N)$rct` zCC~N1bW8GUv>c0`d2;RUe~mcbvAb$e6;ME}rcIje&@`!OpQgi_?$`8yrX!k;X?j%C z2~EY>LZ(Vh1DaN8TB~W3raLrEYTBpiu%`PpJ)r4`rem5O)pSBre6*>`*EFDMm8P|t zHZgvc(&zv9n&Ps+`7N#Z*e(;eG`Kogb#Zk@a@8MNSrx2W9bCCw;cVeeOL4Z|Q8H6b z-&pWI0H(AQ-#74ilaH4PK40>2zu@yKA3s5G|IEkd2=3SU_*}u~M?QX{;PWUS$5|UN z5tT2+E)s!)c!k)Z<84}%ijzdLAU@yOuOeT6f#7i}AIHg9Wg;qHiZ7FS{{vH6iZ7Xm zt4)OUPZ77RDugd|z85j2rDBobaWEf0RTMf8OEEg}_agcF7=4;dMCD5{8uNE1rnD5J zaILG~lDstU4S8kZ11S@~ol@NNf4UBo;OfBpg0O_H7le<|!ibUR^dg+EODwts8J|%f zDv#0z{CoxC(*>OT@O6%KDfQy#!)g~_cO-~^`|vAN|1U}X>Eq7jJ_wxrzh@aTNFhbU zW1xiJu5r1x1i*;QEp&Tf+bT1^80L&HWw!D;jryPycp|cZK|{ z^1!|JhqxR1OSuvTeZ<4h+i-y{RPJAS;8_p+2@m}2vcmq?dEi%i;Iyd=#nT6m; 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Do not edit.""" -import codecs -import sys -python3 = True if sys.hexversion > 0x03000000 else False -import genpy -import struct - - -class Log(genpy.Message): - _md5sum = "11abd731c25933261cd6183bd12d6295" - _type = "rosserial_msgs/Log" - _has_header = False # flag to mark the presence of a Header object - _full_text = """ -#ROS Logging Levels -uint8 ROSDEBUG=0 -uint8 INFO=1 -uint8 WARN=2 -uint8 ERROR=3 -uint8 FATAL=4 - -uint8 level -string msg -""" - # Pseudo-constants - ROSDEBUG = 0 - INFO = 1 - WARN = 2 - ERROR = 3 - FATAL = 4 - - __slots__ = ['level','msg'] - _slot_types = ['uint8','string'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - level,msg - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(Log, self).__init__(*args, **kwds) - # message fields cannot be None, assign default values for those that are - if self.level is None: - self.level = 0 - if self.msg is None: - self.msg = '' - else: - self.level = 0 - self.msg = '' - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self.level - buff.write(_get_struct_B().pack(_x)) - _x = self.msg - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - buff.write(struct.Struct(' 0x03000000 else False -import genpy -import struct - - -class TopicInfo(genpy.Message): - _md5sum = "0ad51f88fc44892f8c10684077646005" - _type = "rosserial_msgs/TopicInfo" - _has_header = False # flag to mark the presence of a Header object - _full_text = """# special topic_ids -uint16 ID_PUBLISHER=0 -uint16 ID_SUBSCRIBER=1 -uint16 ID_SERVICE_SERVER=2 -uint16 ID_SERVICE_CLIENT=4 -uint16 ID_PARAMETER_REQUEST=6 -uint16 ID_LOG=7 -uint16 ID_TIME=10 -uint16 ID_TX_STOP=11 - -# The endpoint ID for this topic -uint16 topic_id - -string topic_name -string message_type - -# MD5 checksum for this message type -string md5sum - -# size of the buffer message must fit in -int32 buffer_size -""" - # Pseudo-constants - ID_PUBLISHER = 0 - ID_SUBSCRIBER = 1 - ID_SERVICE_SERVER = 2 - ID_SERVICE_CLIENT = 4 - ID_PARAMETER_REQUEST = 6 - ID_LOG = 7 - ID_TIME = 10 - ID_TX_STOP = 11 - - __slots__ = ['topic_id','topic_name','message_type','md5sum','buffer_size'] - _slot_types = ['uint16','string','string','string','int32'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - topic_id,topic_name,message_type,md5sum,buffer_size - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(TopicInfo, self).__init__(*args, **kwds) - # message fields cannot be None, assign default values for those that are - if self.topic_id is None: - self.topic_id = 0 - if self.topic_name is None: - self.topic_name = '' - if self.message_type is None: - self.message_type = '' - if self.md5sum is None: - self.md5sum = '' - if self.buffer_size is None: - self.buffer_size = 0 - else: - self.topic_id = 0 - self.topic_name = '' - self.message_type = '' - self.md5sum = '' - self.buffer_size = 0 - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self.topic_id - buff.write(_get_struct_H().pack(_x)) - _x = self.topic_name - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - buff.write(struct.Struct(' 0x03000000 else False -import genpy -import struct - - -class RequestParamRequest(genpy.Message): - _md5sum = "c1f3d28f1b044c871e6eff2e9fc3c667" - _type = "rosserial_msgs/RequestParamRequest" - _has_header = False # flag to mark the presence of a Header object - _full_text = """string name - -""" - __slots__ = ['name'] - _slot_types = ['string'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - name - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(RequestParamRequest, self).__init__(*args, **kwds) - # message fields cannot be None, assign default values for those that are - if self.name is None: - self.name = '' - else: - self.name = '' - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - _x = self.name - length = len(_x) - if python3 or type(_x) == unicode: - _x = _x.encode('utf-8') - length = len(_x) - buff.write(struct.Struct(' 0x03000000 else False -import genpy -import struct - - -class RequestParamResponse(genpy.Message): - _md5sum = "9f0e98bda65981986ddf53afa7a40e49" - _type = "rosserial_msgs/RequestParamResponse" - _has_header = False # flag to mark the presence of a Header object - _full_text = """ -int32[] ints -float32[] floats -string[] strings - -""" - __slots__ = ['ints','floats','strings'] - _slot_types = ['int32[]','float32[]','string[]'] - - def __init__(self, *args, **kwds): - """ - Constructor. Any message fields that are implicitly/explicitly - set to None will be assigned a default value. The recommend - use is keyword arguments as this is more robust to future message - changes. You cannot mix in-order arguments and keyword arguments. - - The available fields are: - ints,floats,strings - - :param args: complete set of field values, in .msg order - :param kwds: use keyword arguments corresponding to message field names - to set specific fields. - """ - if args or kwds: - super(RequestParamResponse, self).__init__(*args, **kwds) - # message fields cannot be None, assign default values for those that are - if self.ints is None: - self.ints = [] - if self.floats is None: - self.floats = [] - if self.strings is None: - self.strings = [] - else: - self.ints = [] - self.floats = [] - self.strings = [] - - def _get_types(self): - """ - internal API method - """ - return self._slot_types - - def serialize(self, buff): - """ - serialize message into buffer - :param buff: buffer, ``StringIO`` - """ - try: - length = len(self.ints) - buff.write(_struct_I.pack(length)) - pattern = '<%si'%length - buff.write(struct.Struct(pattern).pack(*self.ints)) - length = len(self.floats) - buff.write(_struct_I.pack(length)) - pattern = '<%sf'%length - buff.write(struct.Struct(pattern).pack(*self.floats)) - length = len(self.strings) - buff.write(_struct_I.pack(length)) - for val1 in self.strings: - length = len(val1) - if python3 or type(val1) == unicode: - val1 = val1.encode('utf-8') - length = len(val1) - buff.write(struct.Struct('vH;uX)0=SCMb9;?xHHM+YRuQlEguc)a1r@Ee}r}~-hT*Tk|zW>j!wVBj+ zo_Xr2r=B{xs(a?5jD;sB^y}AO!=t};lGacBeU1LF=0on9egOWZ0rP6Z;ol>*v05U~ z0dV^8UHOXB)w`*DJkec@n-}zvDfkU zORe;(eolYKCrSzjdkvkJpksPfKPNuXv|EY-PRDs5^};mY*1sYUryiV90As-{$V)2F1T9a~;{Y>NH?VVB55#Nyn=r)p50je?>3 zb)SyHw0Pg;y1ww4Q8RDb_|?y8&wP35hDolb*GY%SQ^<%zd>%tXPY;4OAA`Sqa1MoY zMWV~0)wmMIY`yrX#_HV@Yoh%Uz{v@|x`gEFfddkp+AV{lgVq4*rwz^UMK^1H_*8U~ zYe-SX0UHM%HSp|ygEnc7zik{lM?28z%<1<>UubZxOH1}RYj$6i;Odu>;2D~%Ijeoz z;LH<_$#f(v9Z(w?;Bbj1o76wKpHs`xw2h#1K)=j^T4HrWLjUZ#r9NN3Ek4cZY<$f* z@{bz^IDS7?+b{{#B=oCyj@s;S4%pnbDdKNRS*!KSi6le@XU=h4JM`JaJzF$r7X96M zjhc3HP14|ZwVE1-d%)poi^iXsSvKFFail9@=xE0snmf}mSBvB(HEIc0YPS?bYlgU- z12VP7gdw92bPdkTxp_<5emS)pqOA^}Hq+^fZ1xRI?3XZb>~&B}wQen0iyS$^b)>`P zNQ3}(H>M3p8vDp$&HXlLGqr>P+Q5yP+n=E2Un{T%RTf9D2mz$=+a%LZ!$BT#hk ze}a~f;M(AtH8NqOFEivD(LYhtal(dWt^J;JwMMj1O61@Ke}eO3O}h;0?BuOUN%Q)J zB9VThQxcw=^`JIK%ZzC7U*b`|{tn-Ogak0kHPg2}bD8Gr=iKd^sW}pbfTkr6bvg$) zu0D9=+1kaoXd4II;m>rA>X*EIrLaT9!js|;ICjJN44lux`5c@t!ufYNUxxD)IA4SF z4LIp|3;y^QCjJAjZ^PM&>38Av1325@{1nd5;1tJ~@;5->lam<6)MQ|?0bQZiWgEJe`%i;A*IM2d#0ABOp z%!hLooCRvR@ie?X1Lw1FHo^HkoG-%pcQ{{yvl-5R!1+%&-+=Q?INyeoj(6bi_u%{h z&JW@I7|ze(`~psKwBzen@VW=iZ{h5K^G7)M!uboFbPPy<{u0haI2~~A2d5KGag2c1 z1K>Om&Lm`q!0VxK9uDVNIFE#L9Gny3q~mD#`xrQX9}Ft;G6;H z@o>(Bb2glF;G7F*CY1p7yepxUfO%b9S{B({rn#j zQ!jt<-#7j-_3#CEjk;#jt0!Mro%Hd~XU;z4an}QBVA$}H=xy(?1FH&_TsU=d)rqP`lz!) zPi+tVWue0Rq1mZmR_{-&9P^ldt1@LSwla{y0xJx+r9Fh zoe38l@x@`MzdGQn<1YEf<|kG?8h!cS18zHR-s>-qTySCaz!yr-{l+_HQsx&sw%vO5 zlt;_TtDX%%_}s_Kx2$}jY~lmK^*?M{GVp@*`WN2$_M`H@jhy}BgLU5Qf#2>vKX>Ae zcOF{leSLi6+6nJ1*?s!P`t+9?My)+;)JH469PJ#n>yi;$=O1|Q5yPk4`2K^3dzY{I z+uu#`rp>>5#l>&j=Ez(zX~X0L z?%K2Ttq-nRF~R@ekKI3d@{W1>uG`Xvw`t)oi;tez|Be4X{_ejCgExEAzl+vw(UkScc9IjmbyDPU=KD)P~^_(OBw%^d&Z7W}R@Zsk^9^Jn6 z#-@jF+_B9U@u%N>?U+Y@-n1lRLwdbqljqL)gV*f7`uy_}hkfwvM-AGB6|Wz0!=p>z zIODMkW?ee|@!Pk3(*K%8SI-->zGc~23p%d9Y4>f%9^xD|t?KR}r+99BfA}BD@7S62 zO77f|qYl4g&$%0$o1ORW8voL`cmK6I?eXbDcAa1U_IqoN`miPa@GoZEv#qIg^RRcf z%v(6-#b^F?n zpW$yV%B%ch^0P;7UV8H1=Nmyb0*w% zaqW(+w_j7Sab4)#NB-V+!qU&5`C$D6cWe(8w~jsUyxVRavEyG?u6&_x$ADLdJaOZW zzc?=Row@qflfJ3^bX5NQ$G?B)%n`E=KJ%cCYoB;v*@&HmTLYKgpSy0y8Luv1^J<;; z*{Va=K6iirxi5@AXX0o3w}uXPj&h{`b?;BPo|`v#8(zqI?}a~k7NqZTJykn+{XhS+ zXjk%wEq{IB?e~6l>^^_)Qz_1ewr%?C*5$X|b?&1F9hz3N@Z}v>?cQ_s+TFR6P8{C$ z5gspJpFXp@E7EKAidU38P? 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zP{j<>iRDj`SgOLv1Il0uC_%+-={{JoTk{#HK}v#Ix~8ofsS8|DA~t4|o=pZ4&Uo#? zi@K-IA}{OIh7q>)UL5&p)`nipijXZT3G ze>GzpqB=9h)9joFTTiR~^7!bsnu}senGxNxD+{YKzhYy|Bh&0s<&jj*%Tcu1ikTbu z<_y^{JA7Ir;}aCG-Yp<}A-Fvrw%ZC`Hf^`l@O?lykpALK`XCDIN&0}|7+JseK_ZwS zXL1Ov*UKT0@}m2rBHm1(MlW_F(=>SJtWz$xp+7-v<}!J@noPyKd>SD%z>BMbLa7T> zykb)Xn>a)fIS99Tc|-=F46!;A>7hBZ8y*u2WG?oZI*jU2brMWu#Xn6$t6hV-w;-f!bO)_!$7 ze@fcl{g%w69^LZS(|HZ}4|wxu*Iu80x$QgQk`-^&}9Mk^) zjjyT2gYJjN9(b5feC(fcowUF7^M7&nC#gNRYBbXJ>GRU|dVCmz|CDLJ=K5co(Z9C; zEZWokYyTHr`-|G12()=!Fz@N@m(ZA=n6|&VD))c&t8#qZJy>}vVgB{LeuK8Q|997= z-Me3t /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.sh b/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.sh deleted file mode 100644 index 56e80a9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.zsh b/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/setup.bash b/docker/local-ros2/OdomComm/comm-ws/devel/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/setup.sh b/docker/local-ros2/OdomComm/comm-ws/devel/setup.sh deleted file mode 100644 index ce2d929..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/root/comm-ws/devel} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/setup.zsh b/docker/local-ros2/OdomComm/comm-ws/devel/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/Log.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/Log.lisp deleted file mode 100644 index a0506af..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/Log.lisp +++ /dev/null @@ -1,106 +0,0 @@ -; Auto-generated. Do not edit! - - -(cl:in-package rosserial_msgs-msg) - - -;//! \htmlinclude Log.msg.html - -(cl:defclass (roslisp-msg-protocol:ros-message) - ((level - :reader level - :initarg :level - :type cl:fixnum - :initform 0) - (msg - :reader msg - :initarg :msg - :type cl:string - :initform "")) -) - -(cl:defclass Log () - ()) - -(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) - (cl:declare (cl:ignorable args)) - (cl:unless (cl:typep m 'Log) - (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-msg: is deprecated: use rosserial_msgs-msg:Log instead."))) - -(cl:ensure-generic-function 'level-val :lambda-list '(m)) -(cl:defmethod level-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:level-val is deprecated. Use rosserial_msgs-msg:level instead.") - (level m)) - -(cl:ensure-generic-function 'msg-val :lambda-list '(m)) -(cl:defmethod msg-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:msg-val is deprecated. Use rosserial_msgs-msg:msg instead.") - (msg m)) -(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) - "Constants for message type '" - '((:ROSDEBUG . 0) - (:INFO . 1) - (:WARN . 2) - (:ERROR . 3) - (:FATAL . 4)) -) -(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'Log))) - "Constants for message type 'Log" - '((:ROSDEBUG . 0) - (:INFO . 1) - (:WARN . 2) - (:ERROR . 3) - (:FATAL . 4)) -) -(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) - "Serializes a message object of type '" - (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'level)) ostream) - (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'msg)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) - (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'msg)) -) -(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) - "Deserializes a message object of type '" - (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'level)) (cl:read-byte istream)) - (cl:let ((__ros_str_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'msg) (cl:make-string __ros_str_len)) - (cl:dotimes (__ros_str_idx __ros_str_len msg) - (cl:setf (cl:char (cl:slot-value msg 'msg) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) - msg -) -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) - "Returns string type for a message object of type '" - "rosserial_msgs/Log") -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Log))) - "Returns string type for a message object of type 'Log" - "rosserial_msgs/Log") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) - "Returns md5sum for a message object of type '" - "11abd731c25933261cd6183bd12d6295") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Log))) - "Returns md5sum for a message object of type 'Log" - "11abd731c25933261cd6183bd12d6295") -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) - "Returns full string definition for message of type '" - (cl:format cl:nil "~%#ROS Logging Levels~%uint8 ROSDEBUG=0~%uint8 INFO=1~%uint8 WARN=2~%uint8 ERROR=3~%uint8 FATAL=4~%~%uint8 level~%string msg~%~%~%")) -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'Log))) - "Returns full string definition for message of type 'Log" - (cl:format cl:nil "~%#ROS Logging Levels~%uint8 ROSDEBUG=0~%uint8 INFO=1~%uint8 WARN=2~%uint8 ERROR=3~%uint8 FATAL=4~%~%uint8 level~%string msg~%~%~%")) -(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) - (cl:+ 0 - 1 - 4 (cl:length (cl:slot-value msg 'msg)) -)) -(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) - "Converts a ROS message object to a list" - (cl:list 'Log - (cl:cons ':level (level msg)) - (cl:cons ':msg (msg msg)) -)) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/TopicInfo.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/TopicInfo.lisp deleted file mode 100644 index 106df53..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/TopicInfo.lisp +++ /dev/null @@ -1,190 +0,0 @@ -; Auto-generated. Do not edit! - - -(cl:in-package rosserial_msgs-msg) - - -;//! \htmlinclude TopicInfo.msg.html - -(cl:defclass (roslisp-msg-protocol:ros-message) - ((topic_id - :reader topic_id - :initarg :topic_id - :type cl:fixnum - :initform 0) - (topic_name - :reader topic_name - :initarg :topic_name - :type cl:string - :initform "") - (message_type - :reader message_type - :initarg :message_type - :type cl:string - :initform "") - (md5sum - :reader md5sum - :initarg :md5sum - :type cl:string - :initform "") - (buffer_size - :reader buffer_size - :initarg :buffer_size - :type cl:integer - :initform 0)) -) - -(cl:defclass TopicInfo () - ()) - -(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) - (cl:declare (cl:ignorable args)) - (cl:unless (cl:typep m 'TopicInfo) - (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-msg: is deprecated: use rosserial_msgs-msg:TopicInfo instead."))) - -(cl:ensure-generic-function 'topic_id-val :lambda-list '(m)) -(cl:defmethod topic_id-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:topic_id-val is deprecated. Use rosserial_msgs-msg:topic_id instead.") - (topic_id m)) - -(cl:ensure-generic-function 'topic_name-val :lambda-list '(m)) -(cl:defmethod topic_name-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:topic_name-val is deprecated. Use rosserial_msgs-msg:topic_name instead.") - (topic_name m)) - -(cl:ensure-generic-function 'message_type-val :lambda-list '(m)) -(cl:defmethod message_type-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:message_type-val is deprecated. Use rosserial_msgs-msg:message_type instead.") - (message_type m)) - -(cl:ensure-generic-function 'md5sum-val :lambda-list '(m)) -(cl:defmethod md5sum-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:md5sum-val is deprecated. Use rosserial_msgs-msg:md5sum instead.") - (md5sum m)) - -(cl:ensure-generic-function 'buffer_size-val :lambda-list '(m)) -(cl:defmethod buffer_size-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-msg:buffer_size-val is deprecated. Use rosserial_msgs-msg:buffer_size instead.") - (buffer_size m)) -(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) - "Constants for message type '" - '((:ID_PUBLISHER . 0) - (:ID_SUBSCRIBER . 1) - (:ID_SERVICE_SERVER . 2) - (:ID_SERVICE_CLIENT . 4) - (:ID_PARAMETER_REQUEST . 6) - (:ID_LOG . 7) - (:ID_TIME . 10) - (:ID_TX_STOP . 11)) -) -(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'TopicInfo))) - "Constants for message type 'TopicInfo" - '((:ID_PUBLISHER . 0) - (:ID_SUBSCRIBER . 1) - (:ID_SERVICE_SERVER . 2) - (:ID_SERVICE_CLIENT . 4) - (:ID_PARAMETER_REQUEST . 6) - (:ID_LOG . 7) - (:ID_TIME . 10) - (:ID_TX_STOP . 11)) -) -(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) - "Serializes a message object of type '" - (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'topic_id)) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'topic_id)) ostream) - (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'topic_name)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) - (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'topic_name)) - (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message_type)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) - (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message_type)) - (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'md5sum)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) - (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'md5sum)) - (cl:let* ((signed (cl:slot-value msg 'buffer_size)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed))) - (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream) - ) -) -(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) - "Deserializes a message object of type '" - (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'topic_id)) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'topic_id)) (cl:read-byte istream)) - (cl:let ((__ros_str_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'topic_name) (cl:make-string __ros_str_len)) - (cl:dotimes (__ros_str_idx __ros_str_len msg) - (cl:setf (cl:char (cl:slot-value msg 'topic_name) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) - (cl:let ((__ros_str_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'message_type) (cl:make-string __ros_str_len)) - (cl:dotimes (__ros_str_idx __ros_str_len msg) - (cl:setf (cl:char (cl:slot-value msg 'message_type) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) - (cl:let ((__ros_str_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'md5sum) (cl:make-string __ros_str_len)) - (cl:dotimes (__ros_str_idx __ros_str_len msg) - (cl:setf (cl:char (cl:slot-value msg 'md5sum) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) - (cl:let ((unsigned 0)) - (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'buffer_size) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))) - msg -) -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) - "Returns string type for a message object of type '" - "rosserial_msgs/TopicInfo") -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'TopicInfo))) - "Returns string type for a message object of type 'TopicInfo" - "rosserial_msgs/TopicInfo") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) - "Returns md5sum for a message object of type '" - "0ad51f88fc44892f8c10684077646005") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'TopicInfo))) - "Returns md5sum for a message object of type 'TopicInfo" - "0ad51f88fc44892f8c10684077646005") -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) - "Returns full string definition for message of type '" - (cl:format cl:nil "# special topic_ids~%uint16 ID_PUBLISHER=0~%uint16 ID_SUBSCRIBER=1~%uint16 ID_SERVICE_SERVER=2~%uint16 ID_SERVICE_CLIENT=4~%uint16 ID_PARAMETER_REQUEST=6~%uint16 ID_LOG=7~%uint16 ID_TIME=10~%uint16 ID_TX_STOP=11~%~%# The endpoint ID for this topic~%uint16 topic_id~%~%string topic_name~%string message_type~%~%# MD5 checksum for this message type~%string md5sum~%~%# size of the buffer message must fit in~%int32 buffer_size~%~%~%")) -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'TopicInfo))) - "Returns full string definition for message of type 'TopicInfo" - (cl:format cl:nil "# special topic_ids~%uint16 ID_PUBLISHER=0~%uint16 ID_SUBSCRIBER=1~%uint16 ID_SERVICE_SERVER=2~%uint16 ID_SERVICE_CLIENT=4~%uint16 ID_PARAMETER_REQUEST=6~%uint16 ID_LOG=7~%uint16 ID_TIME=10~%uint16 ID_TX_STOP=11~%~%# The endpoint ID for this topic~%uint16 topic_id~%~%string topic_name~%string message_type~%~%# MD5 checksum for this message type~%string md5sum~%~%# size of the buffer message must fit in~%int32 buffer_size~%~%~%")) -(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) - (cl:+ 0 - 2 - 4 (cl:length (cl:slot-value msg 'topic_name)) - 4 (cl:length (cl:slot-value msg 'message_type)) - 4 (cl:length (cl:slot-value msg 'md5sum)) - 4 -)) -(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) - "Converts a ROS message object to a list" - (cl:list 'TopicInfo - (cl:cons ':topic_id (topic_id msg)) - (cl:cons ':topic_name (topic_name msg)) - (cl:cons ':message_type (message_type msg)) - (cl:cons ':md5sum (md5sum msg)) - (cl:cons ':buffer_size (buffer_size msg)) -)) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package.lisp deleted file mode 100644 index 8362358..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package.lisp +++ /dev/null @@ -1,9 +0,0 @@ -(cl:defpackage rosserial_msgs-msg - (:use ) - (:export - "" - "LOG" - "" - "TOPICINFO" - )) - diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_Log.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_Log.lisp deleted file mode 100644 index 8aaf384..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_Log.lisp +++ /dev/null @@ -1,6 +0,0 @@ -(cl:in-package rosserial_msgs-msg) -(cl:export '(LEVEL-VAL - LEVEL - MSG-VAL - MSG -)) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_TopicInfo.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_TopicInfo.lisp deleted file mode 100644 index 7ed9341..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/_package_TopicInfo.lisp +++ /dev/null @@ -1,12 +0,0 @@ -(cl:in-package rosserial_msgs-msg) -(cl:export '(TOPIC_ID-VAL - TOPIC_ID - TOPIC_NAME-VAL - TOPIC_NAME - MESSAGE_TYPE-VAL - MESSAGE_TYPE - MD5SUM-VAL - MD5SUM - BUFFER_SIZE-VAL - BUFFER_SIZE -)) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/rosserial_msgs-msg.asd b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/rosserial_msgs-msg.asd deleted file mode 100644 index 475a6c9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/msg/rosserial_msgs-msg.asd +++ /dev/null @@ -1,11 +0,0 @@ - -(cl:in-package :asdf) - -(defsystem "rosserial_msgs-msg" - :depends-on (:roslisp-msg-protocol :roslisp-utils ) - :components ((:file "_package") - (:file "Log" :depends-on ("_package_Log")) - (:file "_package_Log" :depends-on ("_package")) - (:file "TopicInfo" :depends-on ("_package_TopicInfo")) - (:file "_package_TopicInfo" :depends-on ("_package")) - )) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/RequestParam.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/RequestParam.lisp deleted file mode 100644 index cb8836f..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/RequestParam.lisp +++ /dev/null @@ -1,242 +0,0 @@ -; Auto-generated. Do not edit! - - -(cl:in-package rosserial_msgs-srv) - - -;//! \htmlinclude RequestParam-request.msg.html - -(cl:defclass (roslisp-msg-protocol:ros-message) - ((name - :reader name - :initarg :name - :type cl:string - :initform "")) -) - -(cl:defclass RequestParam-request () - ()) - -(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) - (cl:declare (cl:ignorable args)) - (cl:unless (cl:typep m 'RequestParam-request) - (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-srv: is deprecated: use rosserial_msgs-srv:RequestParam-request instead."))) - -(cl:ensure-generic-function 'name-val :lambda-list '(m)) -(cl:defmethod name-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:name-val is deprecated. Use rosserial_msgs-srv:name instead.") - (name m)) -(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) - "Serializes a message object of type '" - (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'name)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) - (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'name)) -) -(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) - "Deserializes a message object of type '" - (cl:let ((__ros_str_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'name) (cl:make-string __ros_str_len)) - (cl:dotimes (__ros_str_idx __ros_str_len msg) - (cl:setf (cl:char (cl:slot-value msg 'name) __ros_str_idx) (cl:code-char (cl:read-byte istream))))) - msg -) -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) - "Returns string type for a service object of type '" - "rosserial_msgs/RequestParamRequest") -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RequestParam-request))) - "Returns string type for a service object of type 'RequestParam-request" - "rosserial_msgs/RequestParamRequest") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) - "Returns md5sum for a message object of type '" - "d7a0c2be00c9fd03cc69f2863de9c4d9") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RequestParam-request))) - "Returns md5sum for a message object of type 'RequestParam-request" - "d7a0c2be00c9fd03cc69f2863de9c4d9") -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) - "Returns full string definition for message of type '" - (cl:format cl:nil "string name~%~%~%~%")) -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RequestParam-request))) - "Returns full string definition for message of type 'RequestParam-request" - (cl:format cl:nil "string name~%~%~%~%")) -(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) - (cl:+ 0 - 4 (cl:length (cl:slot-value msg 'name)) -)) -(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) - "Converts a ROS message object to a list" - (cl:list 'RequestParam-request - (cl:cons ':name (name msg)) -)) -;//! \htmlinclude RequestParam-response.msg.html - -(cl:defclass (roslisp-msg-protocol:ros-message) - ((ints - :reader ints - :initarg :ints - :type (cl:vector cl:integer) - :initform (cl:make-array 0 :element-type 'cl:integer :initial-element 0)) - (floats - :reader floats - :initarg :floats - :type (cl:vector cl:float) - :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) - (strings - :reader strings - :initarg :strings - :type (cl:vector cl:string) - :initform (cl:make-array 0 :element-type 'cl:string :initial-element ""))) -) - -(cl:defclass RequestParam-response () - ()) - -(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) - (cl:declare (cl:ignorable args)) - (cl:unless (cl:typep m 'RequestParam-response) - (roslisp-msg-protocol:msg-deprecation-warning "using old message class name rosserial_msgs-srv: is deprecated: use rosserial_msgs-srv:RequestParam-response instead."))) - -(cl:ensure-generic-function 'ints-val :lambda-list '(m)) -(cl:defmethod ints-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:ints-val is deprecated. Use rosserial_msgs-srv:ints instead.") - (ints m)) - -(cl:ensure-generic-function 'floats-val :lambda-list '(m)) -(cl:defmethod floats-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:floats-val is deprecated. Use rosserial_msgs-srv:floats instead.") - (floats m)) - -(cl:ensure-generic-function 'strings-val :lambda-list '(m)) -(cl:defmethod strings-val ((m )) - (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader rosserial_msgs-srv:strings-val is deprecated. Use rosserial_msgs-srv:strings instead.") - (strings m)) -(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) - "Serializes a message object of type '" - (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'ints)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) - (cl:map cl:nil #'(cl:lambda (ele) (cl:let* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed))) - (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream) - )) - (cl:slot-value msg 'ints)) - (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'floats)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) - (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele))) - (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))) - (cl:slot-value msg 'floats)) - (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'strings)))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream)) - (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((__ros_str_len (cl:length ele))) - (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream) - (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream)) - (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) ele)) - (cl:slot-value msg 'strings)) -) -(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) - "Deserializes a message object of type '" - (cl:let ((__ros_arr_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'ints) (cl:make-array __ros_arr_len)) - (cl:let ((vals (cl:slot-value msg 'ints))) - (cl:dotimes (i __ros_arr_len) - (cl:let ((unsigned 0)) - (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream)) - (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296))))))) - (cl:let ((__ros_arr_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'floats) (cl:make-array __ros_arr_len)) - (cl:let ((vals (cl:slot-value msg 'floats))) - (cl:dotimes (i __ros_arr_len) - (cl:let ((bits 0)) - (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream)) - (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))) - (cl:let ((__ros_arr_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream)) - (cl:setf (cl:slot-value msg 'strings) (cl:make-array __ros_arr_len)) - (cl:let ((vals (cl:slot-value msg 'strings))) - (cl:dotimes (i __ros_arr_len) - (cl:let ((__ros_str_len 0)) - (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream)) - (cl:setf (cl:aref vals i) (cl:make-string __ros_str_len)) - (cl:dotimes (__ros_str_idx __ros_str_len msg) - (cl:setf (cl:char (cl:aref vals i) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))))) - msg -) -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) - "Returns string type for a service object of type '" - "rosserial_msgs/RequestParamResponse") -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RequestParam-response))) - "Returns string type for a service object of type 'RequestParam-response" - "rosserial_msgs/RequestParamResponse") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) - "Returns md5sum for a message object of type '" - "d7a0c2be00c9fd03cc69f2863de9c4d9") -(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RequestParam-response))) - "Returns md5sum for a message object of type 'RequestParam-response" - "d7a0c2be00c9fd03cc69f2863de9c4d9") -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) - "Returns full string definition for message of type '" - (cl:format cl:nil "~%int32[] ints~%float32[] floats~%string[] strings~%~%~%~%")) -(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RequestParam-response))) - "Returns full string definition for message of type 'RequestParam-response" - (cl:format cl:nil "~%int32[] ints~%float32[] floats~%string[] strings~%~%~%~%")) -(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) - (cl:+ 0 - 4 (cl:reduce #'cl:+ (cl:slot-value msg 'ints) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) - 4 (cl:reduce #'cl:+ (cl:slot-value msg 'floats) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) - 4 (cl:reduce #'cl:+ (cl:slot-value msg 'strings) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4 (cl:length ele)))) -)) -(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) - "Converts a ROS message object to a list" - (cl:list 'RequestParam-response - (cl:cons ':ints (ints msg)) - (cl:cons ':floats (floats msg)) - (cl:cons ':strings (strings msg)) -)) -(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'RequestParam))) - 'RequestParam-request) -(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'RequestParam))) - 'RequestParam-response) -(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RequestParam))) - "Returns string type for a service object of type '" - "rosserial_msgs/RequestParam") \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package.lisp deleted file mode 100644 index ef21b8c..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package.lisp +++ /dev/null @@ -1,10 +0,0 @@ -(cl:defpackage rosserial_msgs-srv - (:use ) - (:export - "REQUESTPARAM" - "" - "REQUESTPARAM-REQUEST" - "" - "REQUESTPARAM-RESPONSE" - )) - diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package_RequestParam.lisp b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package_RequestParam.lisp deleted file mode 100644 index 8b7cce4..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/_package_RequestParam.lisp +++ /dev/null @@ -1,10 +0,0 @@ -(cl:in-package rosserial_msgs-srv) -(cl:export '(NAME-VAL - NAME - INTS-VAL - INTS - FLOATS-VAL - FLOATS - STRINGS-VAL - STRINGS -)) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/rosserial_msgs-srv.asd b/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/rosserial_msgs-srv.asd deleted file mode 100644 index a335ac2..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/common-lisp/ros/rosserial_msgs/srv/rosserial_msgs-srv.asd +++ /dev/null @@ -1,9 +0,0 @@ - -(cl:in-package :asdf) - -(defsystem "rosserial_msgs-srv" - :depends-on (:roslisp-msg-protocol :roslisp-utils ) - :components ((:file "_package") - (:file "RequestParam" :depends-on ("_package_RequestParam")) - (:file "_package_RequestParam" :depends-on ("_package")) - )) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig-version.cmake deleted file mode 100644 index 7fd9f99..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-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/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig.cmake deleted file mode 100644 index f2ba027..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/firmware_commun/cmake/firmware_communConfig.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(firmware_commun_CONFIG_INCLUDED) - return() -endif() -set(firmware_commun_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("TRUE" STREQUAL "TRUE") - set(firmware_commun_SOURCE_PREFIX /root/comm-ws/src/firmware_commun) - set(firmware_commun_DEVEL_PREFIX /root/comm-ws/devel) - set(firmware_commun_INSTALL_PREFIX "") - set(firmware_commun_PREFIX ${firmware_commun_DEVEL_PREFIX}) -else() - set(firmware_commun_SOURCE_PREFIX "") - set(firmware_commun_DEVEL_PREFIX "") - set(firmware_commun_INSTALL_PREFIX /root/comm-ws/install) - set(firmware_commun_PREFIX ${firmware_commun_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'firmware_commun' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(firmware_commun_FOUND_CATKIN_PROJECT TRUE) - -if(NOT " " STREQUAL " ") - set(firmware_commun_INCLUDE_DIRS "") - set(_include_dirs "") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${firmware_commun_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'firmware_commun' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/firmware_commun/${idir}'. ${_report}") - endif() - _list_append_unique(firmware_commun_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND firmware_commun_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND firmware_commun_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT firmware_commun_NUM_DUMMY_TARGETS) - set(firmware_commun_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR firmware_commun_NUM_DUMMY_TARGETS "${firmware_commun_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::firmware_commun::wrapped-linker-option${firmware_commun_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND firmware_commun_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND firmware_commun_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND firmware_commun_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(firmware_commun_LIBRARY_DIRS ${lib_path}) - list(APPEND firmware_commun_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'firmware_commun'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND firmware_commun_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(firmware_commun_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${firmware_commun_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 firmware_commun_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${firmware_commun_dep}_FOUND) - find_package(${firmware_commun_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${firmware_commun_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(firmware_commun_INCLUDE_DIRS ${${firmware_commun_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${firmware_commun_dep}_LIBRARIES}) - _list_append_deduplicate(firmware_commun_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(firmware_commun_LIBRARIES ${firmware_commun_LIBRARIES}) - - _list_append_unique(firmware_commun_LIBRARY_DIRS ${${firmware_commun_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(firmware_commun_EXPORTED_TARGETS ${${firmware_commun_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${firmware_commun_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config-version.cmake deleted file mode 100644 index 7fd9f99..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config.cmake deleted file mode 100644 index 4609614..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/flask_esp8266/cmake/flask_esp8266Config.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(flask_esp8266_CONFIG_INCLUDED) - return() -endif() -set(flask_esp8266_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("TRUE" STREQUAL "TRUE") - set(flask_esp8266_SOURCE_PREFIX /root/comm-ws/src/flask_esp8266) - set(flask_esp8266_DEVEL_PREFIX /root/comm-ws/devel) - set(flask_esp8266_INSTALL_PREFIX "") - set(flask_esp8266_PREFIX ${flask_esp8266_DEVEL_PREFIX}) -else() - set(flask_esp8266_SOURCE_PREFIX "") - set(flask_esp8266_DEVEL_PREFIX "") - set(flask_esp8266_INSTALL_PREFIX /root/comm-ws/install) - set(flask_esp8266_PREFIX ${flask_esp8266_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'flask_esp8266' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(flask_esp8266_FOUND_CATKIN_PROJECT TRUE) - -if(NOT " " STREQUAL " ") - set(flask_esp8266_INCLUDE_DIRS "") - set(_include_dirs "") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${flask_esp8266_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'flask_esp8266' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/flask_esp8266/${idir}'. ${_report}") - endif() - _list_append_unique(flask_esp8266_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND flask_esp8266_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND flask_esp8266_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT flask_esp8266_NUM_DUMMY_TARGETS) - set(flask_esp8266_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR flask_esp8266_NUM_DUMMY_TARGETS "${flask_esp8266_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::flask_esp8266::wrapped-linker-option${flask_esp8266_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND flask_esp8266_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND flask_esp8266_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND flask_esp8266_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(flask_esp8266_LIBRARY_DIRS ${lib_path}) - list(APPEND flask_esp8266_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'flask_esp8266'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND flask_esp8266_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(flask_esp8266_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${flask_esp8266_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 flask_esp8266_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${flask_esp8266_dep}_FOUND) - find_package(${flask_esp8266_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${flask_esp8266_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(flask_esp8266_INCLUDE_DIRS ${${flask_esp8266_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${flask_esp8266_dep}_LIBRARIES}) - _list_append_deduplicate(flask_esp8266_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(flask_esp8266_LIBRARIES ${flask_esp8266_LIBRARIES}) - - _list_append_unique(flask_esp8266_LIBRARY_DIRS ${${flask_esp8266_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(flask_esp8266_EXPORTED_TARGETS ${${flask_esp8266_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${flask_esp8266_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/_index.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/_index.js deleted file mode 100644 index 5f2ece8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/_index.js +++ /dev/null @@ -1,7 +0,0 @@ - -"use strict"; - -module.exports = { - msg: require('./msg/_index.js'), - srv: require('./srv/_index.js') -}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/Log.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/Log.js deleted file mode 100644 index a5a3061..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/Log.js +++ /dev/null @@ -1,126 +0,0 @@ -// Auto-generated. Do not edit! - -// (in-package rosserial_msgs.msg) - - -"use strict"; - -const _serializer = _ros_msg_utils.Serialize; -const _arraySerializer = _serializer.Array; -const _deserializer = _ros_msg_utils.Deserialize; -const _arrayDeserializer = _deserializer.Array; -const _finder = _ros_msg_utils.Find; -const _getByteLength = _ros_msg_utils.getByteLength; - -//----------------------------------------------------------- - -class Log { - constructor(initObj={}) { - if (initObj === null) { - // initObj === null is a special case for deserialization where we don't initialize fields - this.level = null; - this.msg = null; - } - else { - if (initObj.hasOwnProperty('level')) { - this.level = initObj.level - } - else { - this.level = 0; - } - if (initObj.hasOwnProperty('msg')) { - this.msg = initObj.msg - } - else { - this.msg = ''; - } - } - } - - static serialize(obj, buffer, bufferOffset) { - // Serializes a message object of type Log - // Serialize message field [level] - bufferOffset = _serializer.uint8(obj.level, buffer, bufferOffset); - // Serialize message field [msg] - bufferOffset = _serializer.string(obj.msg, buffer, bufferOffset); - return bufferOffset; - } - - static deserialize(buffer, bufferOffset=[0]) { - //deserializes a message object of type Log - let len; - let data = new Log(null); - // Deserialize message field [level] - data.level = _deserializer.uint8(buffer, bufferOffset); - // Deserialize message field [msg] - data.msg = _deserializer.string(buffer, bufferOffset); - return data; - } - - static getMessageSize(object) { - let length = 0; - length += _getByteLength(object.msg); - return length + 5; - } - - static datatype() { - // Returns string type for a message object - return 'rosserial_msgs/Log'; - } - - static md5sum() { - //Returns md5sum for a message object - return '11abd731c25933261cd6183bd12d6295'; - } - - static messageDefinition() { - // Returns full string definition for message - return ` - - #ROS Logging Levels - uint8 ROSDEBUG=0 - uint8 INFO=1 - uint8 WARN=2 - uint8 ERROR=3 - uint8 FATAL=4 - - uint8 level - string msg - - `; - } - - static Resolve(msg) { - // deep-construct a valid message object instance of whatever was passed in - if (typeof msg !== 'object' || msg === null) { - msg = {}; - } - const resolved = new Log(null); - if (msg.level !== undefined) { - resolved.level = msg.level; - } - else { - resolved.level = 0 - } - - if (msg.msg !== undefined) { - resolved.msg = msg.msg; - } - else { - resolved.msg = '' - } - - return resolved; - } -}; - -// Constants for message -Log.Constants = { - ROSDEBUG: 0, - INFO: 1, - WARN: 2, - ERROR: 3, - FATAL: 4, -} - -module.exports = Log; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/TopicInfo.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/TopicInfo.js deleted file mode 100644 index 466e6e7..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/TopicInfo.js +++ /dev/null @@ -1,196 +0,0 @@ -// Auto-generated. Do not edit! - -// (in-package rosserial_msgs.msg) - - -"use strict"; - -const _serializer = _ros_msg_utils.Serialize; -const _arraySerializer = _serializer.Array; -const _deserializer = _ros_msg_utils.Deserialize; -const _arrayDeserializer = _deserializer.Array; -const _finder = _ros_msg_utils.Find; -const _getByteLength = _ros_msg_utils.getByteLength; - -//----------------------------------------------------------- - -class TopicInfo { - constructor(initObj={}) { - if (initObj === null) { - // initObj === null is a special case for deserialization where we don't initialize fields - this.topic_id = null; - this.topic_name = null; - this.message_type = null; - this.md5sum = null; - this.buffer_size = null; - } - else { - if (initObj.hasOwnProperty('topic_id')) { - this.topic_id = initObj.topic_id - } - else { - this.topic_id = 0; - } - if (initObj.hasOwnProperty('topic_name')) { - this.topic_name = initObj.topic_name - } - else { - this.topic_name = ''; - } - if (initObj.hasOwnProperty('message_type')) { - this.message_type = initObj.message_type - } - else { - this.message_type = ''; - } - if (initObj.hasOwnProperty('md5sum')) { - this.md5sum = initObj.md5sum - } - else { - this.md5sum = ''; - } - if (initObj.hasOwnProperty('buffer_size')) { - this.buffer_size = initObj.buffer_size - } - else { - this.buffer_size = 0; - } - } - } - - static serialize(obj, buffer, bufferOffset) { - // Serializes a message object of type TopicInfo - // Serialize message field [topic_id] - bufferOffset = _serializer.uint16(obj.topic_id, buffer, bufferOffset); - // Serialize message field [topic_name] - bufferOffset = _serializer.string(obj.topic_name, buffer, bufferOffset); - // Serialize message field [message_type] - bufferOffset = _serializer.string(obj.message_type, buffer, bufferOffset); - // Serialize message field [md5sum] - bufferOffset = _serializer.string(obj.md5sum, buffer, bufferOffset); - // Serialize message field [buffer_size] - bufferOffset = _serializer.int32(obj.buffer_size, buffer, bufferOffset); - return bufferOffset; - } - - static deserialize(buffer, bufferOffset=[0]) { - //deserializes a message object of type TopicInfo - let len; - let data = new TopicInfo(null); - // Deserialize message field [topic_id] - data.topic_id = _deserializer.uint16(buffer, bufferOffset); - // Deserialize message field [topic_name] - data.topic_name = _deserializer.string(buffer, bufferOffset); - // Deserialize message field [message_type] - data.message_type = _deserializer.string(buffer, bufferOffset); - // Deserialize message field [md5sum] - data.md5sum = _deserializer.string(buffer, bufferOffset); - // Deserialize message field [buffer_size] - data.buffer_size = _deserializer.int32(buffer, bufferOffset); - return data; - } - - static getMessageSize(object) { - let length = 0; - length += _getByteLength(object.topic_name); - length += _getByteLength(object.message_type); - length += _getByteLength(object.md5sum); - return length + 18; - } - - static datatype() { - // Returns string type for a message object - return 'rosserial_msgs/TopicInfo'; - } - - static md5sum() { - //Returns md5sum for a message object - return '0ad51f88fc44892f8c10684077646005'; - } - - static messageDefinition() { - // Returns full string definition for message - return ` - # special topic_ids - uint16 ID_PUBLISHER=0 - uint16 ID_SUBSCRIBER=1 - uint16 ID_SERVICE_SERVER=2 - uint16 ID_SERVICE_CLIENT=4 - uint16 ID_PARAMETER_REQUEST=6 - uint16 ID_LOG=7 - uint16 ID_TIME=10 - uint16 ID_TX_STOP=11 - - # The endpoint ID for this topic - uint16 topic_id - - string topic_name - string message_type - - # MD5 checksum for this message type - string md5sum - - # size of the buffer message must fit in - int32 buffer_size - - `; - } - - static Resolve(msg) { - // deep-construct a valid message object instance of whatever was passed in - if (typeof msg !== 'object' || msg === null) { - msg = {}; - } - const resolved = new TopicInfo(null); - if (msg.topic_id !== undefined) { - resolved.topic_id = msg.topic_id; - } - else { - resolved.topic_id = 0 - } - - if (msg.topic_name !== undefined) { - resolved.topic_name = msg.topic_name; - } - else { - resolved.topic_name = '' - } - - if (msg.message_type !== undefined) { - resolved.message_type = msg.message_type; - } - else { - resolved.message_type = '' - } - - if (msg.md5sum !== undefined) { - resolved.md5sum = msg.md5sum; - } - else { - resolved.md5sum = '' - } - - if (msg.buffer_size !== undefined) { - resolved.buffer_size = msg.buffer_size; - } - else { - resolved.buffer_size = 0 - } - - return resolved; - } -}; - -// Constants for message -TopicInfo.Constants = { - ID_PUBLISHER: 0, - ID_SUBSCRIBER: 1, - ID_SERVICE_SERVER: 2, - ID_SERVICE_CLIENT: 4, - ID_PARAMETER_REQUEST: 6, - ID_LOG: 7, - ID_TIME: 10, - ID_TX_STOP: 11, -} - -module.exports = TopicInfo; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/_index.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/_index.js deleted file mode 100644 index d2dbef6..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/msg/_index.js +++ /dev/null @@ -1,10 +0,0 @@ - -"use strict"; - -let TopicInfo = require('./TopicInfo.js'); -let Log = require('./Log.js'); - -module.exports = { - TopicInfo: TopicInfo, - Log: Log, -}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/RequestParam.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/RequestParam.js deleted file mode 100644 index a8ae4a9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/RequestParam.js +++ /dev/null @@ -1,216 +0,0 @@ -// Auto-generated. Do not edit! - -// (in-package rosserial_msgs.srv) - - -"use strict"; - -const _serializer = _ros_msg_utils.Serialize; -const _arraySerializer = _serializer.Array; -const _deserializer = _ros_msg_utils.Deserialize; -const _arrayDeserializer = _deserializer.Array; -const _finder = _ros_msg_utils.Find; -const _getByteLength = _ros_msg_utils.getByteLength; - -//----------------------------------------------------------- - - -//----------------------------------------------------------- - -class RequestParamRequest { - constructor(initObj={}) { - if (initObj === null) { - // initObj === null is a special case for deserialization where we don't initialize fields - this.name = null; - } - else { - if (initObj.hasOwnProperty('name')) { - this.name = initObj.name - } - else { - this.name = ''; - } - } - } - - static serialize(obj, buffer, bufferOffset) { - // Serializes a message object of type RequestParamRequest - // Serialize message field [name] - bufferOffset = _serializer.string(obj.name, buffer, bufferOffset); - return bufferOffset; - } - - static deserialize(buffer, bufferOffset=[0]) { - //deserializes a message object of type RequestParamRequest - let len; - let data = new RequestParamRequest(null); - // Deserialize message field [name] - data.name = _deserializer.string(buffer, bufferOffset); - return data; - } - - static getMessageSize(object) { - let length = 0; - length += _getByteLength(object.name); - return length + 4; - } - - static datatype() { - // Returns string type for a service object - return 'rosserial_msgs/RequestParamRequest'; - } - - static md5sum() { - //Returns md5sum for a message object - return 'c1f3d28f1b044c871e6eff2e9fc3c667'; - } - - static messageDefinition() { - // Returns full string definition for message - return ` - string name - - - `; - } - - static Resolve(msg) { - // deep-construct a valid message object instance of whatever was passed in - if (typeof msg !== 'object' || msg === null) { - msg = {}; - } - const resolved = new RequestParamRequest(null); - if (msg.name !== undefined) { - resolved.name = msg.name; - } - else { - resolved.name = '' - } - - return resolved; - } -}; - -class RequestParamResponse { - constructor(initObj={}) { - if (initObj === null) { - // initObj === null is a special case for deserialization where we don't initialize fields - this.ints = null; - this.floats = null; - this.strings = null; - } - else { - if (initObj.hasOwnProperty('ints')) { - this.ints = initObj.ints - } - else { - this.ints = []; - } - if (initObj.hasOwnProperty('floats')) { - this.floats = initObj.floats - } - else { - this.floats = []; - } - if (initObj.hasOwnProperty('strings')) { - this.strings = initObj.strings - } - else { - this.strings = []; - } - } - } - - static serialize(obj, buffer, bufferOffset) { - // Serializes a message object of type RequestParamResponse - // Serialize message field [ints] - bufferOffset = _arraySerializer.int32(obj.ints, buffer, bufferOffset, null); - // Serialize message field [floats] - bufferOffset = _arraySerializer.float32(obj.floats, buffer, bufferOffset, null); - // Serialize message field [strings] - bufferOffset = _arraySerializer.string(obj.strings, buffer, bufferOffset, null); - return bufferOffset; - } - - static deserialize(buffer, bufferOffset=[0]) { - //deserializes a message object of type RequestParamResponse - let len; - let data = new RequestParamResponse(null); - // Deserialize message field [ints] - data.ints = _arrayDeserializer.int32(buffer, bufferOffset, null) - // Deserialize message field [floats] - data.floats = _arrayDeserializer.float32(buffer, bufferOffset, null) - // Deserialize message field [strings] - data.strings = _arrayDeserializer.string(buffer, bufferOffset, null) - return data; - } - - static getMessageSize(object) { - let length = 0; - length += 4 * object.ints.length; - length += 4 * object.floats.length; - object.strings.forEach((val) => { - length += 4 + _getByteLength(val); - }); - return length + 12; - } - - static datatype() { - // Returns string type for a service object - return 'rosserial_msgs/RequestParamResponse'; - } - - static md5sum() { - //Returns md5sum for a message object - return '9f0e98bda65981986ddf53afa7a40e49'; - } - - static messageDefinition() { - // Returns full string definition for message - return ` - - int32[] ints - float32[] floats - string[] strings - - - `; - } - - static Resolve(msg) { - // deep-construct a valid message object instance of whatever was passed in - if (typeof msg !== 'object' || msg === null) { - msg = {}; - } - const resolved = new RequestParamResponse(null); - if (msg.ints !== undefined) { - resolved.ints = msg.ints; - } - else { - resolved.ints = [] - } - - if (msg.floats !== undefined) { - resolved.floats = msg.floats; - } - else { - resolved.floats = [] - } - - if (msg.strings !== undefined) { - resolved.strings = msg.strings; - } - else { - resolved.strings = [] - } - - return resolved; - } -}; - -module.exports = { - Request: RequestParamRequest, - Response: RequestParamResponse, - md5sum() { return 'd7a0c2be00c9fd03cc69f2863de9c4d9'; }, - datatype() { return 'rosserial_msgs/RequestParam'; } -}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/_index.js b/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/_index.js deleted file mode 100644 index 2b30d81..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/gennodejs/ros/rosserial_msgs/srv/_index.js +++ /dev/null @@ -1,8 +0,0 @@ - -"use strict"; - -let RequestParam = require('./RequestParam.js') - -module.exports = { - RequestParam: RequestParam, -}; diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/manifest.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/manifest.l deleted file mode 100644 index 1b1baf4..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/manifest.l +++ /dev/null @@ -1,8 +0,0 @@ -;; -;; DO NOT EDIT THIS FILE -;; -;; THIS FILE IS AUTOMATICALLY GENERATED -;; FROM /root/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml (0.9.2) -;; USING /opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py /opt/ros/noetic/share/geneus/package.xml (3.0.0) -;; -(ros::load-ros-package "rosserial_msgs") diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/Log.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/Log.l deleted file mode 100644 index 27906dd..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/Log.l +++ /dev/null @@ -1,108 +0,0 @@ -;; Auto-generated. Do not edit! - - -(when (boundp 'rosserial_msgs::Log) - (if (not (find-package "ROSSERIAL_MSGS")) - (make-package "ROSSERIAL_MSGS")) - (shadow 'Log (find-package "ROSSERIAL_MSGS"))) -(unless (find-package "ROSSERIAL_MSGS::LOG") - (make-package "ROSSERIAL_MSGS::LOG")) - -(in-package "ROS") -;;//! \htmlinclude Log.msg.html - - -(intern "*ROSDEBUG*" (find-package "ROSSERIAL_MSGS::LOG")) -(shadow '*ROSDEBUG* (find-package "ROSSERIAL_MSGS::LOG")) -(defconstant rosserial_msgs::Log::*ROSDEBUG* 0) -(intern "*INFO*" (find-package "ROSSERIAL_MSGS::LOG")) -(shadow '*INFO* (find-package "ROSSERIAL_MSGS::LOG")) -(defconstant rosserial_msgs::Log::*INFO* 1) -(intern "*WARN*" (find-package "ROSSERIAL_MSGS::LOG")) -(shadow '*WARN* (find-package "ROSSERIAL_MSGS::LOG")) -(defconstant rosserial_msgs::Log::*WARN* 2) -(intern "*ERROR*" (find-package "ROSSERIAL_MSGS::LOG")) -(shadow '*ERROR* (find-package "ROSSERIAL_MSGS::LOG")) -(defconstant rosserial_msgs::Log::*ERROR* 3) -(intern "*FATAL*" (find-package "ROSSERIAL_MSGS::LOG")) -(shadow '*FATAL* (find-package "ROSSERIAL_MSGS::LOG")) -(defconstant rosserial_msgs::Log::*FATAL* 4) - -(defun rosserial_msgs::Log-to-symbol (const) - (cond - ((= const 0) 'rosserial_msgs::Log::*ROSDEBUG*) - ((= const 1) 'rosserial_msgs::Log::*INFO*) - ((= const 2) 'rosserial_msgs::Log::*WARN*) - ((= const 3) 'rosserial_msgs::Log::*ERROR*) - ((= const 4) 'rosserial_msgs::Log::*FATAL*) - (t nil))) - -(defclass rosserial_msgs::Log - :super ros::object - :slots (_level _msg )) - -(defmethod rosserial_msgs::Log - (:init - (&key - ((:level __level) 0) - ((:msg __msg) "") - ) - (send-super :init) - (setq _level (round __level)) - (setq _msg (string __msg)) - self) - (:level - (&optional __level) - (if __level (setq _level __level)) _level) - (:msg - (&optional __msg) - (if __msg (setq _msg __msg)) _msg) - (:serialization-length - () - (+ - ;; uint8 _level - 1 - ;; string _msg - 4 (length _msg) - )) - (:serialize - (&optional strm) - (let ((s (if strm strm - (make-string-output-stream (send self :serialization-length))))) - ;; uint8 _level - (write-byte _level s) - ;; string _msg - (write-long (length _msg) s) (princ _msg s) - ;; - (if (null strm) (get-output-stream-string s)))) - (:deserialize - (buf &optional (ptr- 0)) - ;; uint8 _level - (setq _level (sys::peek buf ptr- :char)) (incf ptr- 1) - ;; string _msg - (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _msg (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) - ;; - self) - ) - -(setf (get rosserial_msgs::Log :md5sum-) "11abd731c25933261cd6183bd12d6295") -(setf (get rosserial_msgs::Log :datatype-) "rosserial_msgs/Log") -(setf (get rosserial_msgs::Log :definition-) - " -#ROS Logging Levels -uint8 ROSDEBUG=0 -uint8 INFO=1 -uint8 WARN=2 -uint8 ERROR=3 -uint8 FATAL=4 - -uint8 level -string msg - -") - - - -(provide :rosserial_msgs/Log "11abd731c25933261cd6183bd12d6295") - - diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/TopicInfo.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/TopicInfo.l deleted file mode 100644 index ce25cb4..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/msg/TopicInfo.l +++ /dev/null @@ -1,164 +0,0 @@ -;; Auto-generated. Do not edit! - - -(when (boundp 'rosserial_msgs::TopicInfo) - (if (not (find-package "ROSSERIAL_MSGS")) - (make-package "ROSSERIAL_MSGS")) - (shadow 'TopicInfo (find-package "ROSSERIAL_MSGS"))) -(unless (find-package "ROSSERIAL_MSGS::TOPICINFO") - (make-package "ROSSERIAL_MSGS::TOPICINFO")) - -(in-package "ROS") -;;//! \htmlinclude TopicInfo.msg.html - - -(intern "*ID_PUBLISHER*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_PUBLISHER* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_PUBLISHER* 0) -(intern "*ID_SUBSCRIBER*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_SUBSCRIBER* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_SUBSCRIBER* 1) -(intern "*ID_SERVICE_SERVER*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_SERVICE_SERVER* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_SERVICE_SERVER* 2) -(intern "*ID_SERVICE_CLIENT*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_SERVICE_CLIENT* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_SERVICE_CLIENT* 4) -(intern "*ID_PARAMETER_REQUEST*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_PARAMETER_REQUEST* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_PARAMETER_REQUEST* 6) -(intern "*ID_LOG*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_LOG* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_LOG* 7) -(intern "*ID_TIME*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_TIME* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_TIME* 10) -(intern "*ID_TX_STOP*" (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(shadow '*ID_TX_STOP* (find-package "ROSSERIAL_MSGS::TOPICINFO")) -(defconstant rosserial_msgs::TopicInfo::*ID_TX_STOP* 11) - -(defun rosserial_msgs::TopicInfo-to-symbol (const) - (cond - ((= const 0) 'rosserial_msgs::TopicInfo::*ID_PUBLISHER*) - ((= const 1) 'rosserial_msgs::TopicInfo::*ID_SUBSCRIBER*) - ((= const 2) 'rosserial_msgs::TopicInfo::*ID_SERVICE_SERVER*) - ((= const 4) 'rosserial_msgs::TopicInfo::*ID_SERVICE_CLIENT*) - ((= const 6) 'rosserial_msgs::TopicInfo::*ID_PARAMETER_REQUEST*) - ((= const 7) 'rosserial_msgs::TopicInfo::*ID_LOG*) - ((= const 10) 'rosserial_msgs::TopicInfo::*ID_TIME*) - ((= const 11) 'rosserial_msgs::TopicInfo::*ID_TX_STOP*) - (t nil))) - -(defclass rosserial_msgs::TopicInfo - :super ros::object - :slots (_topic_id _topic_name _message_type _md5sum _buffer_size )) - -(defmethod rosserial_msgs::TopicInfo - (:init - (&key - ((:topic_id __topic_id) 0) - ((:topic_name __topic_name) "") - ((:message_type __message_type) "") - ((:md5sum __md5sum) "") - ((:buffer_size __buffer_size) 0) - ) - (send-super :init) - (setq _topic_id (round __topic_id)) - (setq _topic_name (string __topic_name)) - (setq _message_type (string __message_type)) - (setq _md5sum (string __md5sum)) - (setq _buffer_size (round __buffer_size)) - self) - (:topic_id - (&optional __topic_id) - (if __topic_id (setq _topic_id __topic_id)) _topic_id) - (:topic_name - (&optional __topic_name) - (if __topic_name (setq _topic_name __topic_name)) _topic_name) - (:message_type - (&optional __message_type) - (if __message_type (setq _message_type __message_type)) _message_type) - (:md5sum - (&optional __md5sum) - (if __md5sum (setq _md5sum __md5sum)) _md5sum) - (:buffer_size - (&optional __buffer_size) - (if __buffer_size (setq _buffer_size __buffer_size)) _buffer_size) - (:serialization-length - () - (+ - ;; uint16 _topic_id - 2 - ;; string _topic_name - 4 (length _topic_name) - ;; string _message_type - 4 (length _message_type) - ;; string _md5sum - 4 (length _md5sum) - ;; int32 _buffer_size - 4 - )) - (:serialize - (&optional strm) - (let ((s (if strm strm - (make-string-output-stream (send self :serialization-length))))) - ;; uint16 _topic_id - (write-word _topic_id s) - ;; string _topic_name - (write-long (length _topic_name) s) (princ _topic_name s) - ;; string _message_type - (write-long (length _message_type) s) (princ _message_type s) - ;; string _md5sum - (write-long (length _md5sum) s) (princ _md5sum s) - ;; int32 _buffer_size - (write-long _buffer_size s) - ;; - (if (null strm) (get-output-stream-string s)))) - (:deserialize - (buf &optional (ptr- 0)) - ;; uint16 _topic_id - (setq _topic_id (sys::peek buf ptr- :short)) (incf ptr- 2) - ;; string _topic_name - (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _topic_name (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) - ;; string _message_type - (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _message_type (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) - ;; string _md5sum - (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _md5sum (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) - ;; int32 _buffer_size - (setq _buffer_size (sys::peek buf ptr- :integer)) (incf ptr- 4) - ;; - self) - ) - -(setf (get rosserial_msgs::TopicInfo :md5sum-) "0ad51f88fc44892f8c10684077646005") -(setf (get rosserial_msgs::TopicInfo :datatype-) "rosserial_msgs/TopicInfo") -(setf (get rosserial_msgs::TopicInfo :definition-) - "# special topic_ids -uint16 ID_PUBLISHER=0 -uint16 ID_SUBSCRIBER=1 -uint16 ID_SERVICE_SERVER=2 -uint16 ID_SERVICE_CLIENT=4 -uint16 ID_PARAMETER_REQUEST=6 -uint16 ID_LOG=7 -uint16 ID_TIME=10 -uint16 ID_TX_STOP=11 - -# The endpoint ID for this topic -uint16 topic_id - -string topic_name -string message_type - -# MD5 checksum for this message type -string md5sum - -# size of the buffer message must fit in -int32 buffer_size - -") - - - -(provide :rosserial_msgs/TopicInfo "0ad51f88fc44892f8c10684077646005") - - diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/srv/RequestParam.l b/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/srv/RequestParam.l deleted file mode 100644 index 6528b98..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/roseus/ros/rosserial_msgs/srv/RequestParam.l +++ /dev/null @@ -1,183 +0,0 @@ -;; Auto-generated. Do not edit! - - -(when (boundp 'rosserial_msgs::RequestParam) - (if (not (find-package "ROSSERIAL_MSGS")) - (make-package "ROSSERIAL_MSGS")) - (shadow 'RequestParam (find-package "ROSSERIAL_MSGS"))) -(unless (find-package "ROSSERIAL_MSGS::REQUESTPARAM") - (make-package "ROSSERIAL_MSGS::REQUESTPARAM")) -(unless (find-package "ROSSERIAL_MSGS::REQUESTPARAMREQUEST") - (make-package "ROSSERIAL_MSGS::REQUESTPARAMREQUEST")) -(unless (find-package "ROSSERIAL_MSGS::REQUESTPARAMRESPONSE") - (make-package "ROSSERIAL_MSGS::REQUESTPARAMRESPONSE")) - -(in-package "ROS") - - - - - -(defclass rosserial_msgs::RequestParamRequest - :super ros::object - :slots (_name )) - -(defmethod rosserial_msgs::RequestParamRequest - (:init - (&key - ((:name __name) "") - ) - (send-super :init) - (setq _name (string __name)) - self) - (:name - (&optional __name) - (if __name (setq _name __name)) _name) - (:serialization-length - () - (+ - ;; string _name - 4 (length _name) - )) - (:serialize - (&optional strm) - (let ((s (if strm strm - (make-string-output-stream (send self :serialization-length))))) - ;; string _name - (write-long (length _name) s) (princ _name s) - ;; - (if (null strm) (get-output-stream-string s)))) - (:deserialize - (buf &optional (ptr- 0)) - ;; string _name - (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setq _name (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) - ;; - self) - ) - -(defclass rosserial_msgs::RequestParamResponse - :super ros::object - :slots (_ints _floats _strings )) - -(defmethod rosserial_msgs::RequestParamResponse - (:init - (&key - ((:ints __ints) (make-array 0 :initial-element 0 :element-type :integer)) - ((:floats __floats) (make-array 0 :initial-element 0.0 :element-type :float)) - ((:strings __strings) (let (r) (dotimes (i 0) (push "" r)) r)) - ) - (send-super :init) - (setq _ints __ints) - (setq _floats __floats) - (setq _strings __strings) - self) - (:ints - (&optional __ints) - (if __ints (setq _ints __ints)) _ints) - (:floats - (&optional __floats) - (if __floats (setq _floats __floats)) _floats) - (:strings - (&optional __strings) - (if __strings (setq _strings __strings)) _strings) - (:serialization-length - () - (+ - ;; int32[] _ints - (* 4 (length _ints)) 4 - ;; float32[] _floats - (* 4 (length _floats)) 4 - ;; string[] _strings - (apply #'+ (mapcar #'(lambda (x) (+ 4 (length x))) _strings)) 4 - )) - (:serialize - (&optional strm) - (let ((s (if strm strm - (make-string-output-stream (send self :serialization-length))))) - ;; int32[] _ints - (write-long (length _ints) s) - (dotimes (i (length _ints)) - (write-long (elt _ints i) s) - ) - ;; float32[] _floats - (write-long (length _floats) s) - (dotimes (i (length _floats)) - (sys::poke (elt _floats i) (send s :buffer) (send s :count) :float) (incf (stream-count s) 4) - ) - ;; string[] _strings - (write-long (length _strings) s) - (dolist (elem _strings) - (write-long (length elem) s) (princ elem s) - ) - ;; - (if (null strm) (get-output-stream-string s)))) - (:deserialize - (buf &optional (ptr- 0)) - ;; int32[] _ints - (let (n) - (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) - (setq _ints (instantiate integer-vector n)) - (dotimes (i n) - (setf (elt _ints i) (sys::peek buf ptr- :integer)) (incf ptr- 4) - )) - ;; float32[] _floats - (let (n) - (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) - (setq _floats (instantiate float-vector n)) - (dotimes (i n) - (setf (elt _floats i) (sys::peek buf ptr- :float)) (incf ptr- 4) - )) - ;; string[] _strings - (let (n) - (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) - (setq _strings (make-list n)) - (dotimes (i n) - (let (n) (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4) (setf (elt _strings i) (subseq buf ptr- (+ ptr- n))) (incf ptr- n)) - )) - ;; - self) - ) - -(defclass rosserial_msgs::RequestParam - :super ros::object - :slots ()) - -(setf (get rosserial_msgs::RequestParam :md5sum-) "d7a0c2be00c9fd03cc69f2863de9c4d9") -(setf (get rosserial_msgs::RequestParam :datatype-) "rosserial_msgs/RequestParam") -(setf (get rosserial_msgs::RequestParam :request) rosserial_msgs::RequestParamRequest) -(setf (get rosserial_msgs::RequestParam :response) rosserial_msgs::RequestParamResponse) - -(defmethod rosserial_msgs::RequestParamRequest - (:response () (instance rosserial_msgs::RequestParamResponse :init))) - -(setf (get rosserial_msgs::RequestParamRequest :md5sum-) "d7a0c2be00c9fd03cc69f2863de9c4d9") -(setf (get rosserial_msgs::RequestParamRequest :datatype-) "rosserial_msgs/RequestParamRequest") -(setf (get rosserial_msgs::RequestParamRequest :definition-) - "string name - ---- - -int32[] ints -float32[] floats -string[] strings - -") - -(setf (get rosserial_msgs::RequestParamResponse :md5sum-) "d7a0c2be00c9fd03cc69f2863de9c4d9") -(setf (get rosserial_msgs::RequestParamResponse :datatype-) "rosserial_msgs/RequestParamResponse") -(setf (get rosserial_msgs::RequestParamResponse :definition-) - "string name - ---- - -int32[] ints -float32[] floats -string[] strings - -") - - - -(provide :rosserial_msgs/RequestParam "d7a0c2be00c9fd03cc69f2863de9c4d9") - - diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-extras.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-extras.cmake deleted file mode 100644 index 1fe8307..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-extras.cmake +++ /dev/null @@ -1,2 +0,0 @@ -set(rosserial_msgs_MESSAGE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg;/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg") -set(rosserial_msgs_SERVICE_FILES "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv") diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-paths.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-paths.cmake deleted file mode 100644 index 4344644..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgs-msg-paths.cmake +++ /dev/null @@ -1,4 +0,0 @@ -# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in - -set(rosserial_msgs_MSG_INCLUDE_DIRS "/root/comm-ws/src/firmware_commun/src/rosserial_msgs/msg") -set(rosserial_msgs_MSG_DEPENDENCIES ) diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig-version.cmake deleted file mode 100644 index 742fb9a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.9.2") - -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 "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig.cmake deleted file mode 100644 index 0f1a5af..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_msgs/cmake/rosserial_msgsConfig.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(rosserial_msgs_CONFIG_INCLUDED) - return() -endif() -set(rosserial_msgs_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("TRUE" STREQUAL "TRUE") - set(rosserial_msgs_SOURCE_PREFIX /root/comm-ws/src/firmware_commun/src/rosserial_msgs) - set(rosserial_msgs_DEVEL_PREFIX /root/comm-ws/devel) - set(rosserial_msgs_INSTALL_PREFIX "") - set(rosserial_msgs_PREFIX ${rosserial_msgs_DEVEL_PREFIX}) -else() - set(rosserial_msgs_SOURCE_PREFIX "") - set(rosserial_msgs_DEVEL_PREFIX "") - set(rosserial_msgs_INSTALL_PREFIX /root/comm-ws/install) - set(rosserial_msgs_PREFIX ${rosserial_msgs_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'rosserial_msgs' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(rosserial_msgs_FOUND_CATKIN_PROJECT TRUE) - -if(NOT "/root/comm-ws/devel/include " STREQUAL " ") - set(rosserial_msgs_INCLUDE_DIRS "") - set(_include_dirs "/root/comm-ws/devel/include") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT "http://ros.org/wiki/rosserial_msgs " STREQUAL " ") - set(_report "Check the website 'http://ros.org/wiki/rosserial_msgs' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'Paul Bouchier , Mike Purvis ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${rosserial_msgs_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'rosserial_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/firmware_commun/src/rosserial_msgs/${idir}'. ${_report}") - endif() - _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT rosserial_msgs_NUM_DUMMY_TARGETS) - set(rosserial_msgs_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR rosserial_msgs_NUM_DUMMY_TARGETS "${rosserial_msgs_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::rosserial_msgs::wrapped-linker-option${rosserial_msgs_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND rosserial_msgs_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND rosserial_msgs_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND rosserial_msgs_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${lib_path}) - list(APPEND rosserial_msgs_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_msgs'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND rosserial_msgs_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(rosserial_msgs_EXPORTED_TARGETS "rosserial_msgs_generate_messages_cpp;rosserial_msgs_generate_messages_eus;rosserial_msgs_generate_messages_lisp;rosserial_msgs_generate_messages_nodejs;rosserial_msgs_generate_messages_py") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${rosserial_msgs_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "message_runtime") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 rosserial_msgs_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${rosserial_msgs_dep}_FOUND) - find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${rosserial_msgs_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(rosserial_msgs_INCLUDE_DIRS ${${rosserial_msgs_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${rosserial_msgs_dep}_LIBRARIES}) - _list_append_deduplicate(rosserial_msgs_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(rosserial_msgs_LIBRARIES ${rosserial_msgs_LIBRARIES}) - - _list_append_unique(rosserial_msgs_LIBRARY_DIRS ${${rosserial_msgs_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(rosserial_msgs_EXPORTED_TARGETS ${${rosserial_msgs_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "rosserial_msgs-msg-extras.cmake") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${rosserial_msgs_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig-version.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig-version.cmake deleted file mode 100644 index 742fb9a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.9.2") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig.cmake b/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig.cmake deleted file mode 100644 index 2a8f48b..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/devel/share/rosserial_server/cmake/rosserial_serverConfig.cmake +++ /dev/null @@ -1,223 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(rosserial_server_CONFIG_INCLUDED) - return() -endif() -set(rosserial_server_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("TRUE" STREQUAL "TRUE") - set(rosserial_server_SOURCE_PREFIX /root/comm-ws/src/firmware_commun/src/rosserial_server) - set(rosserial_server_DEVEL_PREFIX /root/comm-ws/devel) - set(rosserial_server_INSTALL_PREFIX "") - set(rosserial_server_PREFIX ${rosserial_server_DEVEL_PREFIX}) -else() - set(rosserial_server_SOURCE_PREFIX "") - set(rosserial_server_DEVEL_PREFIX "") - set(rosserial_server_INSTALL_PREFIX /root/comm-ws/install) - set(rosserial_server_PREFIX ${rosserial_server_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'rosserial_server' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(rosserial_server_FOUND_CATKIN_PROJECT TRUE) - -if(NOT "/root/comm-ws/src/firmware_commun/src/rosserial_server/include " STREQUAL " ") - set(rosserial_server_INCLUDE_DIRS "") - set(_include_dirs "/root/comm-ws/src/firmware_commun/src/rosserial_server/include") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'Mike Purvis ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${rosserial_server_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'rosserial_server' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/root/comm-ws/src/firmware_commun/src/rosserial_server/${idir}'. ${_report}") - endif() - _list_append_unique(rosserial_server_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "rosserial_server_lookup") -foreach(library ${libraries}) - # keep build configuration keywords, target names and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT rosserial_server_NUM_DUMMY_TARGETS) - set(rosserial_server_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR rosserial_server_NUM_DUMMY_TARGETS "${rosserial_server_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::rosserial_server::wrapped-linker-option${rosserial_server_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND rosserial_server_LIBRARIES "${interface_target_name}") - elseif(TARGET ${library}) - list(APPEND rosserial_server_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND rosserial_server_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /root/comm-ws/devel/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(rosserial_server_LIBRARY_DIRS ${lib_path}) - list(APPEND rosserial_server_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'rosserial_server'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND rosserial_server_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(rosserial_server_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${rosserial_server_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "roscpp;rosserial_msgs;std_msgs;topic_tools") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 rosserial_server_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${rosserial_server_dep}_FOUND) - find_package(${rosserial_server_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${rosserial_server_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(rosserial_server_INCLUDE_DIRS ${${rosserial_server_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${rosserial_server_dep}_LIBRARIES}) - _list_append_deduplicate(rosserial_server_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(rosserial_server_LIBRARIES ${rosserial_server_LIBRARIES}) - - _list_append_unique(rosserial_server_LIBRARY_DIRS ${${rosserial_server_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(rosserial_server_EXPORTED_TARGETS ${${rosserial_server_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${rosserial_server_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/docker/local-ros2/OdomComm/comm-ws/src/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/CMakeLists.txt deleted file mode 100644 index 2016816..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/src/__pycache__/app.cpython-38.pyc b/docker/local-ros2/OdomComm/comm-ws/src/__pycache__/app.cpython-38.pyc deleted file mode 100644 index fd02dfbab4fae25475db7f567ff5a87d5760f80b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 391 zcmYjNu};G<5WTbGCIrgD!U$s!G_a!zfrOa407B{#g`8&|yWJREe4iYQwh`dR7waKhapuyTJ0Kt|p~4{|NR;dahg|ZH zfY>Jzr{EP_M@U9u%5-1y#}0KUq=+`&IReGkkZk@s9Z1lM%Q8391*U~>tcSA!7cNcU zfY6cHVBWowWvLGL?vyTR{|mG~T)|>D)k-yKp{nZW$)rXXX$@0)l;kh diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CHANGELOG.rst b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CHANGELOG.rst deleted file mode 100644 index ee8c98d..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CHANGELOG.rst +++ /dev/null @@ -1,105 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package rosserial_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.9.2 (2021-04-02) ------------------- - -0.9.1 (2020-09-09) ------------------- - -0.9.0 (2020-08-25) ------------------- -* Fix Travis for Noetic + Python 3 -* Bump minimum CMake version to 3.7.2 (Melodic). -* Drop separate node for message service (`#446 `_) -* Contributors: Mike Purvis - -0.8.0 (2018-10-11) ------------------- - -0.7.7 (2017-11-29) ------------------- -* Fix catkin lint errors (`#296 `_) -* Contributors: Bei Chen Liu - -0.7.6 (2017-03-01) ------------------- - -0.7.5 (2016-11-22) ------------------- - -0.7.4 (2016-09-21) ------------------- - -0.7.3 (2016-08-05) ------------------- - -0.7.2 (2016-07-15) ------------------- - -0.7.1 (2015-07-06) ------------------- - -0.7.0 (2015-04-23) ------------------- - -0.6.3 (2014-11-05) ------------------- - -0.6.2 (2014-09-10) ------------------- - -0.6.1 (2014-06-30) ------------------- - -0.6.0 (2014-06-11) ------------------- -* Uncomment ID_TX_STOP constant, per `#111 `_ -* Contributors: Mike Purvis - -0.5.6 (2014-06-11) ------------------- -* Add Mike Purvis as maintainer to all but xbee. -* remove ID_TX_STOP from rosserial_msgs/msg/TopicInfo.msg, using hardcode modification. fix the dupilcated registration problem of subscriber -* modified rosserial -* Contributors: Mike Purvis, Moju Zhao - -0.5.5 (2014-01-14) ------------------- - -0.5.4 (2013-10-17) ------------------- - -0.5.3 (2013-09-21) ------------------- -* Add message info service and stub of node to provide it, for -rosserial_server support. - -0.5.2 (2013-07-17) ------------------- - -* Fix release version - -0.5.1 (2013-07-15) ------------------- - -0.4.5 (2013-07-02) ------------------- - -0.4.4 (2013-03-20) ------------------- - -0.4.3 (2013-03-13 14:08) ------------------------- - -0.4.2 (2013-03-13 01:15) ------------------------- - -0.4.1 (2013-03-09) ------------------- - -0.4.0 (2013-03-08) ------------------- -* Changed DEBUG log level to ROSDEBUG. -* initial catkin version on github diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CMakeLists.txt deleted file mode 100644 index c525612..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required(VERSION 3.7.2) -project(rosserial_msgs) - -find_package(catkin REQUIRED COMPONENTS - message_generation -) - -add_message_files(FILES - Log.msg - TopicInfo.msg -) - -add_service_files(FILES - RequestParam.srv -) - -generate_messages() - -catkin_package(CATKIN_DEPENDS - message_runtime -) diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg deleted file mode 100644 index 7239876..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/Log.msg +++ /dev/null @@ -1,10 +0,0 @@ - -#ROS Logging Levels -uint8 ROSDEBUG=0 -uint8 INFO=1 -uint8 WARN=2 -uint8 ERROR=3 -uint8 FATAL=4 - -uint8 level -string msg diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg deleted file mode 100644 index dafd6b0..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/msg/TopicInfo.msg +++ /dev/null @@ -1,21 +0,0 @@ -# special topic_ids -uint16 ID_PUBLISHER=0 -uint16 ID_SUBSCRIBER=1 -uint16 ID_SERVICE_SERVER=2 -uint16 ID_SERVICE_CLIENT=4 -uint16 ID_PARAMETER_REQUEST=6 -uint16 ID_LOG=7 -uint16 ID_TIME=10 -uint16 ID_TX_STOP=11 - -# The endpoint ID for this topic -uint16 topic_id - -string topic_name -string message_type - -# MD5 checksum for this message type -string md5sum - -# size of the buffer message must fit in -int32 buffer_size diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml deleted file mode 100644 index 9f8ac6d..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - rosserial_msgs - 0.9.2 - - Messages for automatic topic configuration using rosserial. - - Michael Ferguson - Paul Bouchier - Mike Purvis - BSD - http://ros.org/wiki/rosserial_msgs - - catkin - - message_generation - - message_runtime - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv deleted file mode 100644 index ca605e8..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_msgs/srv/RequestParam.srv +++ /dev/null @@ -1,7 +0,0 @@ -string name - ---- - -int32[] ints -float32[] floats -string[] strings diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CHANGELOG.rst b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CHANGELOG.rst deleted file mode 100644 index e8d8efd..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CHANGELOG.rst +++ /dev/null @@ -1,130 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package rosserial_server -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.9.2 (2021-04-02) ------------------- -* Add python3-dev as build depend (`#544 `_) -* Contributors: Tobias Fischer - -0.9.1 (2020-09-09) ------------------- -* Add boost::thread dependency to rosserial_server (`#513 `_) -* Contributors: Mike Purvis - -0.9.0 (2020-08-25) ------------------- -* Only initialize embedded python interpreter once. (`#491 `_) -* Port 482 and 483 forward from Melodic branch (`#492 `_) -* Fix warning when using std_msgs/Empty (`#482 `_) -* Bump minimum CMake version to 3.7.2 (Melodic). -* Removed unused service client for message info service (`#481 `_) -* Call io_service.stop() when ros::ok() returns false (`#477 `_) -* Call Py_Finalize before throwing exception (`#476 `_) -* [Windows] use c++ signed trait to replace ssize_t for better portability. (`#463 `_) -* Port rosserial_server to Boost 1.71. (`#468 `_) -* rosserial_server: update install rules for binary targets (`#457 `_) -* Fix bug: assign the md5 for service (`#449 `_) -* Contributors: Hermann von Kleist, Johannes Meyer, Mike Purvis, Sean Yen, 趙　漠居(Zhao, Moju) - -0.8.0 (2018-10-11) ------------------- -* Fix compiling on boost > 1.66 (`#362 `_) - Reflective of changes made to boost::asio noted here: - http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html -* Contributors: Fan Jiang - -0.7.7 (2017-11-29) ------------------- -* Fix catkin lint errors (`#296 `_) -* Contributors: Bei Chen Liu - -0.7.6 (2017-03-01) ------------------- - -0.7.5 (2016-11-22) ------------------- -* Fixing build errors for boost >=1.60 (`#226 `_) (`#250 `_) -* Contributors: Malte Splietker - -0.7.4 (2016-09-21) ------------------- -* Use catkin_EXPORTED_TARGETS to avoid CMake warning (`#246 `_) -* Fix AsyncReadBuffer for UDP socket case. (`#245 `_) -* Contributors: Mike Purvis - -0.7.3 (2016-08-05) ------------------- -* Avoid runaway async condition when port is bad. (`#236 `_) -* Add missing install rule for udp_socket_node -* Make the ~require param configurable from Session. (`#233 `_) -* Contributors: Mike Purvis - -0.7.2 (2016-07-15) ------------------- -* Implementation of native UDP rosserial server. (`#231 `_) -* Explicit session lifecycle for the serial server. (`#228 `_) - This is a long overdue change which will resolve some crashes when - USB serial devices return error states in the face of noise or other - interruptions. -* Support for VER1 protocol has been dropped. -* Handle log messages in rosserial_server -* Contributors: Mike Purvis, mkrauter - -0.7.1 (2015-07-06) ------------------- - -0.7.0 (2015-04-23) ------------------- -* Fill out description field in package.xml. -* Bugfix for checksum. - Publishing topics fails when messages are over 256 bytes in length due to checksum() function or'ing high and low byte instead of adding them. -* rosserial_server: Properly receive messages > 255 bytes. -* Contributors: Chad Attermann, Mike Purvis - -0.6.3 (2014-11-05) ------------------- -* Add more log output, don't end the session for certain write errors. -* Contributors: Mike Purvis - -0.6.2 (2014-09-10) ------------------- -* Bugfix for interrupted sessions. - This is a two-part fix for an issue causes a segfault when the device - disappears during operation, for example a ttyACM device which is unplugged. - The AsyncReadBuffer part avoids calling a callback after the object - owning it has destructed, and the SerialSession part avoids recreating - itself until the previous instance has finished the destructor and been - full destroyed. -* Add dependency on rosserial_msgs_gencpp, fixes `#133 `_ -* Make ServiceClient::handle public, to fix compilation bug on some platforms. -* Enabled registration of service clients -* Add namespaces to headers, swap ROS thread to foreground. -* Move headers to include path, rename to follow ROS style. - -0.6.1 (2014-06-30) ------------------- - -0.6.0 (2014-06-11) ------------------- - -0.5.6 (2014-06-11) ------------------- -* Fixed build error due to variable being read as a function due to missing parenthesis -* Add rosserial_python as dependency of rosserial_server -* Contributors: Mike Purvis, spaghetti- - -0.5.5 (2014-01-14) ------------------- -* Add support for require/publishers and require/subscribers parameters. -* Use stream logging in rosserial_server - -0.5.4 (2013-10-17) ------------------- - -0.5.3 (2013-09-21) ------------------- -* New package: rosserial_server -* Contains example launch file for serial configuration of server -* Working now with both Groovy and Hydro clients. -* Subscriber to correctly declare known md5 and topic type from client. diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CMakeLists.txt deleted file mode 100644 index 6e57211..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/CMakeLists.txt +++ /dev/null @@ -1,77 +0,0 @@ -cmake_minimum_required(VERSION 3.7.2) -project(rosserial_server) - -find_package(catkin REQUIRED COMPONENTS - roscpp - rosserial_msgs - std_msgs - topic_tools -) - -find_package(Boost REQUIRED COMPONENTS - system - thread -) - -find_package(PythonLibs REQUIRED) - -catkin_package( - INCLUDE_DIRS include - CATKIN_DEPENDS - roscpp - rosserial_msgs - std_msgs - topic_tools - LIBRARIES ${PROJECT_NAME}_lookup -) - -include_directories( - include - ${Boost_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} -) - -add_library(${PROJECT_NAME}_lookup src/msg_lookup.cpp) -target_link_libraries(${PROJECT_NAME}_lookup ${PYTHON_LIBRARY}) -target_include_directories(${PROJECT_NAME}_lookup SYSTEM PRIVATE ${PYTHON_INCLUDE_DIR}) - -add_executable(${PROJECT_NAME}_serial_node src/serial_node.cpp) -target_link_libraries(${PROJECT_NAME}_serial_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) -set_target_properties(${PROJECT_NAME}_serial_node PROPERTIES OUTPUT_NAME serial_node PREFIX "") -add_dependencies(${PROJECT_NAME}_serial_node ${catkin_EXPORTED_TARGETS}) - -add_executable(${PROJECT_NAME}_socket_node src/socket_node.cpp) -target_link_libraries(${PROJECT_NAME}_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) -set_target_properties(${PROJECT_NAME}_socket_node PROPERTIES OUTPUT_NAME socket_node PREFIX "") -add_dependencies(${PROJECT_NAME}_socket_node ${catkin_EXPORTED_TARGETS}) - -add_executable(${PROJECT_NAME}_udp_socket_node src/udp_socket_node.cpp) -target_link_libraries(${PROJECT_NAME}_udp_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) -set_target_properties(${PROJECT_NAME}_udp_socket_node PROPERTIES OUTPUT_NAME udp_socket_node PREFIX "") -add_dependencies(${PROJECT_NAME}_udp_socket_node ${catkin_EXPORTED_TARGETS}) - -install( - TARGETS - ${PROJECT_NAME}_lookup - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -) - -install( - TARGETS - ${PROJECT_NAME}_serial_node - ${PROJECT_NAME}_socket_node - ${PROJECT_NAME}_udp_socket_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install( - DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install( - DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/async_read_buffer.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/async_read_buffer.h deleted file mode 100644 index 586fcae..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/async_read_buffer.h +++ /dev/null @@ -1,204 +0,0 @@ -/** - * - * \file - * \brief Helper object for successive reads from a ReadStream. - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H -#define ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H - -#include -#include -#include - -#include - -// ssize_t is POSIX-only type. Use make_signed for portable code. -#include // size_t -#include // std::make_signed -typedef std::make_signed::type signed_size_t; - -namespace rosserial_server -{ - -template -class AsyncReadBuffer -{ -public: - AsyncReadBuffer(AsyncReadStream& s, size_t capacity, - boost::function error_callback) - : stream_(s), read_requested_bytes_(0), error_callback_(error_callback) { - reset(); - mem_.resize(capacity); - ROS_ASSERT_MSG(error_callback_, "Bad error callback passed to read buffer."); - } - - /** - * @brief Commands a fixed number of bytes from the buffer. This may be fulfilled from existing - * buffer content, or following a hardware read if required. - */ - void read(size_t requested_bytes, boost::function callback) { - ROS_DEBUG_STREAM_NAMED("async_read", "Buffer read of " << requested_bytes << " bytes, " << - "wi: " << write_index_ << ", ri: " << read_index_); - - ROS_ASSERT_MSG(read_requested_bytes_ == 0, "Bytes requested is nonzero, is there an operation already pending?"); - ROS_ASSERT_MSG(callback, "Bad read success callback function."); - read_success_callback_ = callback; - read_requested_bytes_ = requested_bytes; - - if (read_requested_bytes_ > mem_.size()) - { - // Insufficient room in the buffer for the requested bytes, - ROS_ERROR_STREAM_NAMED("async_read", "Requested to read " << read_requested_bytes_ << - " bytes, but buffer capacity is only " << mem_.size() << "."); - error_callback_(boost::system::errc::make_error_code(boost::system::errc::no_buffer_space)); - return; - } - - // Number of bytes which must be transferred to satisfy the request. - signed_size_t transfer_bytes = read_requested_bytes_ - bytesAvailable(); - - if (transfer_bytes > 0) - { - // If we don't have enough headroom in the buffer, we'll have to shift what's currently in there to make room. - if (bytesHeadroom() < transfer_bytes) - { - memmove(&mem_[0], &mem_[read_index_], bytesAvailable()); - write_index_ = bytesAvailable(); - read_index_ = 0; - } - - // Initiate a read from hardware so that we have enough bytes to fill the user request. - ROS_DEBUG_STREAM_NAMED("async_read", "Requesting transfer of at least " << transfer_bytes << " byte(s)."); - boost::asio::async_read(stream_, - boost::asio::buffer(&mem_[write_index_], bytesHeadroom()), - boost::asio::transfer_at_least(transfer_bytes), - boost::bind(&AsyncReadBuffer::callback, this, - boost::asio::placeholders::error, - boost::asio::placeholders::bytes_transferred)); - } - else - { - // We have enough in the buffer already, can fill the request without going to hardware. - callSuccessCallback(); - } - } - -private: - void reset() - { - read_index_ = 0; - write_index_ = 0; - } - - inline size_t bytesAvailable() - { - return write_index_ - read_index_; - } - - inline size_t bytesHeadroom() - { - return mem_.size() - write_index_; - } - - /** - * @brief The internal callback which is called by the boost::asio::async_read invocation - * in the public read method above. - */ - void callback(const boost::system::error_code& error, size_t bytes_transferred) - { - if (error) - { - read_requested_bytes_ = 0; - read_success_callback_.clear(); - ROS_DEBUG_STREAM_NAMED("async_read", "Read operation failed with: " << error); - - if (error == boost::asio::error::operation_aborted) - { - // Special case for operation_aborted. The abort callback comes when the owning Session - // is in the middle of teardown, which means the callback is no longer valid. - } - else - { - error_callback_(error); - } - return; - } - - write_index_ += bytes_transferred; - ROS_DEBUG_STREAM_NAMED("async_read", "Successfully read " << bytes_transferred << " byte(s), now " << bytesAvailable() << " available."); - callSuccessCallback(); - } - - /** - * @brief Calls the user's callback. This is a separate function because it gets called from two - * places, depending whether or not an actual HW read is required to fill the request. - */ - void callSuccessCallback() - { - ROS_DEBUG_STREAM_NAMED("async_read", "Invoking success callback with buffer of requested size " << - read_requested_bytes_ << " byte(s)."); - - ros::serialization::IStream stream(&mem_[read_index_], read_requested_bytes_); - read_index_ += read_requested_bytes_; - - // Post the callback rather than executing it here so, so that we have a chance to do the cleanup - // below prior to it actually getting run, in the event that the callback queues up another read. -#if BOOST_VERSION >= 107000 - boost::asio::post(stream_.get_executor(), boost::bind(read_success_callback_, stream)); -#else - stream_.get_io_service().post(boost::bind(read_success_callback_, stream)); -#endif - - // Resetting these values clears our state so that we know there isn't a callback pending. - read_requested_bytes_ = 0; - read_success_callback_.clear(); - - if (bytesAvailable() == 0) - { - ROS_DEBUG_STREAM_NAMED("async_read", "Buffer is empty, resetting indexes to the beginning."); - reset(); - } - } - - AsyncReadStream& stream_; - std::vector mem_; - - size_t write_index_; - size_t read_index_; - boost::function error_callback_; - - boost::function read_success_callback_; - size_t read_requested_bytes_; -}; - -} // namespace - -#endif // ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/msg_lookup.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/msg_lookup.h deleted file mode 100644 index 28e60b9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/msg_lookup.h +++ /dev/null @@ -1,44 +0,0 @@ -/** - * \author Mike Purvis - * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - */ - -#include -#include - -namespace rosserial_server -{ - -struct MsgInfo -{ - std::string md5sum; - std::string full_text; -}; - -const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule = "msg"); - -} // namespace rosserial_server diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/serial_session.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/serial_session.h deleted file mode 100644 index 2a0bc15..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/serial_session.h +++ /dev/null @@ -1,118 +0,0 @@ -/** - * - * \file - * \brief Single, reconnecting class for a serial rosserial session. - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_SERIAL_SESSION_H -#define ROSSERIAL_SERVER_SERIAL_SESSION_H - -#include -#include -#include - -#include - -#include "rosserial_server/session.h" - -namespace rosserial_server -{ - -class SerialSession : public Session -{ -public: - SerialSession(boost::asio::io_service& io_service, std::string port, int baud) - : Session(io_service), port_(port), baud_(baud), timer_(io_service) - { - ROS_INFO_STREAM("rosserial_server session configured for " << port_ << " at " << baud << "bps."); - - failed_connection_attempts_ = 0; - check_connection(); - } - -private: - void check_connection() - { - if (!is_active()) - { - attempt_connection(); - } - - // Every second, check again if the connection should be reinitialized, - // if the ROS node is still up. - if (ros::ok()) - { - timer_.expires_from_now(boost::posix_time::milliseconds(2000)); - timer_.async_wait(boost::bind(&SerialSession::check_connection, this)); - } - else - { - shutdown(); - } - } - - void attempt_connection() - { - ROS_DEBUG("Opening serial port."); - - boost::system::error_code ec; - socket().open(port_, ec); - if (ec) { - failed_connection_attempts_++; - if (failed_connection_attempts_ == 1) { - ROS_ERROR_STREAM("Unable to open port " << port_ << ": " << ec); - } else { - ROS_DEBUG_STREAM("Unable to open port " << port_ << " (" << failed_connection_attempts_ << "): " << ec); - } - return; - } - ROS_INFO_STREAM("Opened " << port_); - failed_connection_attempts_ = 0; - - typedef boost::asio::serial_port_base serial; - socket().set_option(serial::baud_rate(baud_)); - socket().set_option(serial::character_size(8)); - socket().set_option(serial::stop_bits(serial::stop_bits::one)); - socket().set_option(serial::parity(serial::parity::none)); - socket().set_option(serial::flow_control(serial::flow_control::none)); - - // Kick off the session. - start(); - } - - std::string port_; - int baud_; - boost::asio::deadline_timer timer_; - int failed_connection_attempts_; -}; - -} // namespace - -#endif // ROSSERIAL_SERVER_SERIAL_SESSION_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/session.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/session.h deleted file mode 100644 index e7f8ab7..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/session.h +++ /dev/null @@ -1,625 +0,0 @@ -/** - * - * \file - * \brief Class representing a session between this node and a - * templated rosserial client. - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_SESSION_H -#define ROSSERIAL_SERVER_SESSION_H - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "rosserial_server/async_read_buffer.h" -#include "rosserial_server/topic_handlers.h" - -namespace rosserial_server -{ - - typedef std::vector Buffer; - typedef boost::shared_ptr BufferPtr; - - template - class Session : boost::noncopyable - { - public: - Session(boost::asio::io_service &io_service) - : io_service_(io_service), - socket_(io_service), - sync_timer_(io_service), - require_check_timer_(io_service), - ros_spin_timer_(io_service), - async_read_buffer_(socket_, buffer_max, - boost::bind(&Session::read_failed, this, - boost::asio::placeholders::error)) - { - active_ = false; - - timeout_interval_ = boost::posix_time::milliseconds(5000); - attempt_interval_ = boost::posix_time::milliseconds(1000); - require_check_interval_ = boost::posix_time::milliseconds(1000); - ros_spin_interval_ = boost::posix_time::milliseconds(10); - require_param_name_ = "~require"; - - unrecognised_topic_retry_threshold_ = ros::param::param("~unrecognised_topic_retry_threshold", 0); - - nh_.setCallbackQueue(&ros_callback_queue_); - - // Intermittent callback to service ROS callbacks. To avoid polling like this, - // CallbackQueue could in the future be extended with a scheme to monitor for - // callbacks on another thread, and then queue them up to be executed on this one. - ros_spin_timer_.expires_from_now(ros_spin_interval_); - ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, - boost::asio::placeholders::error)); - } - - Socket &socket() - { - return socket_; - } - - void start() - { - ROS_DEBUG("Starting session."); - - callbacks_[rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_publisher, this, _1); - callbacks_[rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_subscriber, this, _1); - callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_service_client_publisher, this, _1); - callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_service_client_subscriber, this, _1); - callbacks_[rosserial_msgs::TopicInfo::ID_LOG] = boost::bind(&Session::handle_log, this, _1); - callbacks_[rosserial_msgs::TopicInfo::ID_TIME] = boost::bind(&Session::handle_time, this, _1); - - active_ = true; - attempt_sync(); - read_sync_header(); - } - - void stop() - { - std::cout << "Sending Tx Stop Request..." << std::endl; - uint8_t overhead_bytes = 8; - uint16_t length = overhead_bytes; - BufferPtr buffer_ptr(new Buffer(length)); - ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); - stream << (uint16_t)0xfeff << (uint16_t)0x0000 << (uint16_t)0x0bff << (uint16_t)0xf400; - boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), - boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); - std::cout << "Stop..." << std::endl; - - // Abort any pending ROS callbacks. - ros_callback_queue_.clear(); - - // Abort active session timer callbacks, if present. - sync_timer_.cancel(); - require_check_timer_.cancel(); - - // Reset the state of the session, dropping any publishers or subscribers - // we currently know about from this client. - callbacks_.clear(); - subscribers_.clear(); - publishers_.clear(); - services_.clear(); - - // Close the socket. - socket_.close(); - active_ = false; - } - - void shutdown() - { - if (is_active()) - { - stop(); - } - io_service_.stop(); - } - - bool is_active() - { - return active_; - } - - /** - * This is to set the name of the required topics parameter from the - * default of ~require. You might want to do this to avoid a conflict - * with something else in that namespace, or because you're embedding - * multiple instances of rosserial_server in a single process. - */ - void set_require_param(std::string param_name) - { - require_param_name_ = param_name; - } - - private: - /** - * Periodic function which handles calling ROS callbacks, executed on the same - * io_service thread to avoid a concurrency nightmare. - */ - void ros_spin_timeout(const boost::system::error_code &error) - { - ros_callback_queue_.callAvailable(); - - if (ros::ok()) - { - // Call again next interval. - ros_spin_timer_.expires_from_now(ros_spin_interval_); - ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, - boost::asio::placeholders::error)); - } - else - { - shutdown(); - } - } - - //// RECEIVING MESSAGES //// - // TODO: Total message timeout, implement primarily in ReadBuffer. - - void read_sync_header() - { - async_read_buffer_.read(1, boost::bind(&Session::read_sync_first, this, _1)); - } - - void read_sync_first(ros::serialization::IStream &stream) - { - uint8_t sync; - stream >> sync; - if (sync == 0xff) - { - async_read_buffer_.read(1, boost::bind(&Session::read_sync_second, this, _1)); - } - else - { - read_sync_header(); - } - } - - void read_sync_second(ros::serialization::IStream &stream) - { - uint8_t sync; - stream >> sync; - if (sync == 0xfe) - { - async_read_buffer_.read(5, boost::bind(&Session::read_id_length, this, _1)); - } - else - { - read_sync_header(); - } - } - - void read_id_length(ros::serialization::IStream &stream) - { - uint16_t topic_id, length; - uint8_t length_checksum; - - // Check header checksum byte for length field. - stream >> length >> length_checksum; - if (length_checksum + checksum(length) != 0xff) - { - uint8_t csl = checksum(length); - ROS_WARN("Bad message header length checksum. Dropping message from client. T%d L%d C%d %d", topic_id, length, length_checksum, csl); - read_sync_header(); - return; - } - else - { - stream >> topic_id; - } - ROS_DEBUG("Received message header with length %d and topic_id=%d", length, topic_id); - - // Read message length + checksum byte. - async_read_buffer_.read(length + 1, boost::bind(&Session::read_body, this, - _1, topic_id)); - } - - void read_body(ros::serialization::IStream &stream, uint16_t topic_id) - { - ROS_DEBUG("Received body of length %d for message on topic %d.", stream.getLength(), topic_id); - - ros::serialization::IStream checksum_stream(stream.getData(), stream.getLength()); - uint8_t msg_checksum = checksum(checksum_stream) + checksum(topic_id); - - if (msg_checksum != 0xff) - { - ROS_WARN("Rejecting message on topicId=%d, length=%d with bad checksum.", topic_id, stream.getLength()); - } - else - { - if (callbacks_.count(topic_id) == 1) - { - try - { - // stream includes the check sum byte. - ros::serialization::IStream msg_stream(stream.getData(), stream.getLength() - 1); - callbacks_[topic_id](msg_stream); - } - catch (ros::serialization::StreamOverrunException e) - { - if (topic_id < 100) - { - ROS_ERROR("Buffer overrun when attempting to parse setup message."); - ROS_ERROR_ONCE("Is this firmware from a pre-Groovy rosserial?"); - } - else - { - ROS_WARN("Buffer overrun when attempting to parse user message."); - } - } - } - else - { - ROS_WARN("Received message with unrecognized topicId (%d).", topic_id); - - if ((unrecognised_topic_retry_threshold_ > 0) && ++unrecognised_topics_ >= unrecognised_topic_retry_threshold_) - { - // The threshold for unrecognised topics has been exceeded. - // Attempt to request the topics from the client again - ROS_WARN("Unrecognised topic threshold exceeded. Requesting topics from client"); - attempt_sync(); - unrecognised_topics_ = 0; - } - } - } - - // Kickoff next message read. - read_sync_header(); - } - - void read_failed(const boost::system::error_code &error) - { - if (error == boost::system::errc::no_buffer_space) - { - // No worries. Begin syncing on a new message. - ROS_WARN("Overrun on receive buffer. Attempting to regain rx sync."); - read_sync_header(); - } - else if (error) - { - // When some other read error has occurred, stop the session, which destroys - // all known publishers and subscribers. - ROS_WARN_STREAM("Socket asio error, closing socket: " << error); - stop(); - } - } - - //// SENDING MESSAGES //// - - void write_message(Buffer &message, const uint16_t topic_id) - { - uint8_t overhead_bytes = 8; - uint16_t length = overhead_bytes + message.size(); - BufferPtr buffer_ptr(new Buffer(length)); - - uint8_t msg_checksum; - ros::serialization::IStream checksum_stream(message.size() > 0 ? &message[0] : NULL, message.size()); - - ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); - uint8_t msg_len_checksum = 255 - checksum(message.size()); - stream << (uint16_t)0xfeff << (uint16_t)message.size() << msg_len_checksum << topic_id; - msg_checksum = 255 - (checksum(checksum_stream) + checksum(topic_id)); - - memcpy(stream.advance(message.size()), &message[0], message.size()); - stream << msg_checksum; - - ROS_DEBUG_NAMED("async_write", "Sending buffer of %d bytes to client.", length); - boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), - boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); - } - - void write_completion_cb(const boost::system::error_code &error, - BufferPtr buffer_ptr) - { - if (error) - { - if (error == boost::system::errc::io_error) - { - ROS_WARN_THROTTLE(1, "Socket write operation returned IO error."); - } - else if (error == boost::system::errc::no_such_device) - { - ROS_WARN_THROTTLE(1, "Socket write operation returned no device."); - } - else - { - ROS_WARN_STREAM_THROTTLE(1, "Unknown error returned during write operation: " << error); - } - stop(); - } - // Buffer is destructed when this function exits and buffer_ptr goes out of scope. - } - - //// SYNC WATCHDOG //// - void attempt_sync() - { - request_topics(); - set_sync_timeout(attempt_interval_); - } - - void set_sync_timeout(const boost::posix_time::time_duration &interval) - { - if (ros::ok()) - { - sync_timer_.cancel(); - sync_timer_.expires_from_now(interval); - sync_timer_.async_wait(boost::bind(&Session::sync_timeout, this, - boost::asio::placeholders::error)); - } - else - { - shutdown(); - } - } - - void sync_timeout(const boost::system::error_code &error) - { - if (error != boost::asio::error::operation_aborted) - { - ROS_DEBUG("Sync with device lost."); - stop(); - } - } - - //// HELPERS //// - void request_topics() - { - std::vector message(0); - ROS_DEBUG("Sending request topics message for VER2 protocol."); - write_message(message, rosserial_msgs::TopicInfo::ID_PUBLISHER); - - // Set timer for future point at which to verify the subscribers and publishers - // created by the client against the expected set given in the parameters. - require_check_timer_.expires_from_now(require_check_interval_); - require_check_timer_.async_wait(boost::bind(&Session::required_topics_check, this, - boost::asio::placeholders::error)); - } - - void required_topics_check(const boost::system::error_code &error) - { - if (error != boost::asio::error::operation_aborted) - { - if (ros::param::has(require_param_name_)) - { - if (!check_set(require_param_name_ + "/publishers", publishers_) || - !check_set(require_param_name_ + "/subscribers", subscribers_)) - { - ROS_WARN("Connected client failed to establish the publishers and subscribers dictated by require parameter. Re-requesting topics."); - request_topics(); - } - } - } - } - - template - bool check_set(std::string param_name, M map) - { - XmlRpc::XmlRpcValue param_list; - ros::param::get(param_name, param_list); - ROS_ASSERT(param_list.getType() == XmlRpc::XmlRpcValue::TypeArray); - for (int i = 0; i < param_list.size(); ++i) - { - ROS_ASSERT(param_list[i].getType() == XmlRpc::XmlRpcValue::TypeString); - std::string required_topic((std::string(param_list[i]))); - // Iterate through map of registered topics, to ensure that this one is present. - bool found = false; - for (typename M::iterator j = map.begin(); j != map.end(); ++j) - { - if (nh_.resolveName(j->second->get_topic()) == - nh_.resolveName(required_topic)) - { - found = true; - ROS_INFO_STREAM("Verified connection to topic " << required_topic << ", given in parameter " << param_name); - break; - } - } - if (!found) - { - ROS_WARN_STREAM("Missing connection to topic " << required_topic << ", required by parameter " << param_name); - return false; - } - } - return true; - } - - static uint8_t checksum(ros::serialization::IStream &stream) - { - uint8_t sum = 0; - for (uint16_t i = 0; i < stream.getLength(); ++i) - { - sum += stream.getData()[i]; - } - return sum; - } - - static uint8_t checksum(uint16_t val) - { - return (val >> 8) + val; - } - - //// RECEIVED MESSAGE HANDLERS //// - - void setup_publisher(ros::serialization::IStream &stream) - { - rosserial_msgs::TopicInfo topic_info; - ros::serialization::Serializer::read(stream, topic_info); - - PublisherPtr pub(new Publisher(nh_, topic_info)); - callbacks_[topic_info.topic_id] = boost::bind(&Publisher::handle, pub, _1); - publishers_[topic_info.topic_id] = pub; - - set_sync_timeout(timeout_interval_); - } - - void setup_subscriber(ros::serialization::IStream &stream) - { - rosserial_msgs::TopicInfo topic_info; - ros::serialization::Serializer::read(stream, topic_info); - - SubscriberPtr sub(new Subscriber(nh_, topic_info, - boost::bind(&Session::write_message, this, _1, topic_info.topic_id))); - subscribers_[topic_info.topic_id] = sub; - - set_sync_timeout(timeout_interval_); - } - - // When the rosserial client creates a ServiceClient object (and/or when it registers that object with the NodeHandle) - // it creates a publisher (to publish the service request message to us) and a subscriber (to receive the response) - // the service client callback is attached to the *subscriber*, so when we receive the service response - // and wish to send it over the socket to the client, - // we must attach the topicId that came from the service client subscriber message - - void setup_service_client_publisher(ros::serialization::IStream &stream) - { - rosserial_msgs::TopicInfo topic_info; - ros::serialization::Serializer::read(stream, topic_info); - - if (!services_.count(topic_info.topic_name)) - { - ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); - ServiceClientPtr srv(new ServiceClient( - nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); - services_[topic_info.topic_name] = srv; - callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); - } - if (services_[topic_info.topic_name]->getRequestMessageMD5() != topic_info.md5sum) - { - ROS_WARN("Service client setup: Request message MD5 mismatch between rosserial client and ROS"); - } - else - { - ROS_DEBUG("Service client %s: request message MD5 successfully validated as %s", - topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); - } - set_sync_timeout(timeout_interval_); - } - - void setup_service_client_subscriber(ros::serialization::IStream &stream) - { - rosserial_msgs::TopicInfo topic_info; - ros::serialization::Serializer::read(stream, topic_info); - - if (!services_.count(topic_info.topic_name)) - { - ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); - ServiceClientPtr srv(new ServiceClient( - nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); - services_[topic_info.topic_name] = srv; - callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); - } - // see above comment regarding the service client callback for why we set topic_id here - services_[topic_info.topic_name]->setTopicId(topic_info.topic_id); - if (services_[topic_info.topic_name]->getResponseMessageMD5() != topic_info.md5sum) - { - ROS_WARN("Service client setup: Response message MD5 mismatch between rosserial client and ROS"); - } - else - { - ROS_DEBUG("Service client %s: response message MD5 successfully validated as %s", - topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); - } - set_sync_timeout(timeout_interval_); - } - - void handle_log(ros::serialization::IStream &stream) - { - rosserial_msgs::Log l; - ros::serialization::Serializer::read(stream, l); - if (l.level == rosserial_msgs::Log::ROSDEBUG) - ROS_DEBUG("%s", l.msg.c_str()); - else if (l.level == rosserial_msgs::Log::INFO) - ROS_INFO("%s", l.msg.c_str()); - else if (l.level == rosserial_msgs::Log::WARN) - ROS_WARN("%s", l.msg.c_str()); - else if (l.level == rosserial_msgs::Log::ERROR) - ROS_ERROR("%s", l.msg.c_str()); - else if (l.level == rosserial_msgs::Log::FATAL) - ROS_FATAL("%s", l.msg.c_str()); - } - - void handle_time(ros::serialization::IStream &stream) - { - std_msgs::Time time; - time.data = ros::Time::now(); - - size_t length = ros::serialization::serializationLength(time); - std::vector message(length); - - ros::serialization::OStream ostream(&message[0], length); - ros::serialization::Serializer::write(ostream, time); - - write_message(message, rosserial_msgs::TopicInfo::ID_TIME); - - // The MCU requesting the time from the server is the sync notification. This - // call moves the timeout forward. - set_sync_timeout(timeout_interval_); - } - - boost::asio::io_service &io_service_; - Socket socket_; - AsyncReadBuffer async_read_buffer_; - enum - { - buffer_max = 1023 - }; - bool active_; - - ros::NodeHandle nh_; - ros::CallbackQueue ros_callback_queue_; - - boost::posix_time::time_duration timeout_interval_; - boost::posix_time::time_duration attempt_interval_; - boost::posix_time::time_duration require_check_interval_; - boost::posix_time::time_duration ros_spin_interval_; - boost::asio::deadline_timer sync_timer_; - boost::asio::deadline_timer require_check_timer_; - boost::asio::deadline_timer ros_spin_timer_; - std::string require_param_name_; - int unrecognised_topic_retry_threshold_{0}; - int unrecognised_topics_{0}; - - std::map> callbacks_; - std::map publishers_; - std::map subscribers_; - std::map services_; - }; - -} // namespace - -#endif // ROSSERIAL_SERVER_SESSION_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/tcp_server.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/tcp_server.h deleted file mode 100644 index 1dff9c5..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/tcp_server.h +++ /dev/null @@ -1,92 +0,0 @@ -/** - * - * \file - * \brief TCP server for rosserial - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_TCP_SERVER_H -#define ROSSERIAL_SERVER_TCP_SERVER_H - -#include -#include -#include - -#include - -#include "rosserial_server/session.h" - - -namespace rosserial_server -{ - -using boost::asio::ip::tcp; - -template< typename Session = rosserial_server::Session > -class TcpServer -{ -public: - TcpServer(boost::asio::io_service& io_service, short port) - : io_service_(io_service), - acceptor_(io_service, tcp::endpoint(tcp::v4(), port)) - { - start_accept(); - } - -private: - void start_accept() - { - Session* new_session = new Session(io_service_); - acceptor_.async_accept(new_session->socket(), - boost::bind(&TcpServer::handle_accept, this, new_session, - boost::asio::placeholders::error)); - } - - void handle_accept(Session* new_session, - const boost::system::error_code& error) - { - if (!error) - { - new_session->start(); - } - else - { - delete new_session; - } - - start_accept(); - } - - boost::asio::io_service& io_service_; - tcp::acceptor acceptor_; -}; - -} // namespace - -#endif // ROSSERIAL_SERVER_TCP_SERVER_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/topic_handlers.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/topic_handlers.h deleted file mode 100644 index 737adb5..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/topic_handlers.h +++ /dev/null @@ -1,195 +0,0 @@ -/** - * - * \file - * \brief Classes which manage the Publish and Subscribe relationships - * that a Session has with its client. - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_TOPIC_HANDLERS_H -#define ROSSERIAL_SERVER_TOPIC_HANDLERS_H - -#include -#include -#include -#include - -namespace rosserial_server -{ - -class Publisher { -public: - Publisher(ros::NodeHandle& nh, const rosserial_msgs::TopicInfo& topic_info) { - rosserial_server::MsgInfo msginfo; - try - { - msginfo = lookupMessage(topic_info.message_type); - } - catch (const std::exception& e) - { - ROS_WARN_STREAM("Unable to look up message: " << e.what()); - } - - if (!msginfo.md5sum.empty() && msginfo.md5sum != topic_info.md5sum) - { - ROS_WARN_STREAM("Message" << topic_info.message_type << "MD5 sum from client does not " - "match that in system. Will avoid using system's message definition."); - msginfo.full_text = ""; - } - message_.morph(topic_info.md5sum, topic_info.message_type, msginfo.full_text, "false"); - publisher_ = message_.advertise(nh, topic_info.topic_name, 1); - } - - void handle(ros::serialization::IStream stream) { - ros::serialization::Serializer::read(stream, message_); - publisher_.publish(message_); - } - - std::string get_topic() { - return publisher_.getTopic(); - } - -private: - ros::Publisher publisher_; - topic_tools::ShapeShifter message_; -}; - -typedef boost::shared_ptr PublisherPtr; - - -class Subscriber { -public: - Subscriber(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, - boost::function& buffer)> write_fn) - : write_fn_(write_fn) { - ros::SubscribeOptions opts; - opts.init( - topic_info.topic_name, 1, boost::bind(&Subscriber::handle, this, _1)); - opts.md5sum = topic_info.md5sum; - opts.datatype = topic_info.message_type; - subscriber_ = nh.subscribe(opts); - } - - std::string get_topic() { - return subscriber_.getTopic(); - } - -private: - void handle(const boost::shared_ptr& msg) { - size_t length = ros::serialization::serializationLength(*msg); - std::vector buffer(length); - - ros::serialization::OStream ostream(&buffer[0], length); - ros::serialization::Serializer::write(ostream, *msg); - - write_fn_(buffer); - } - - ros::Subscriber subscriber_; - boost::function& buffer)> write_fn_; -}; - -typedef boost::shared_ptr SubscriberPtr; - -class ServiceClient { -public: - ServiceClient(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, - boost::function& buffer, const uint16_t topic_id)> write_fn) - : write_fn_(write_fn) { - topic_id_ = -1; - - rosserial_server::MsgInfo srvinfo; - rosserial_server::MsgInfo reqinfo; - rosserial_server::MsgInfo respinfo; - try - { - srvinfo = lookupMessage(topic_info.message_type, "srv"); - reqinfo = lookupMessage(topic_info.message_type + "Request", "srv"); - respinfo = lookupMessage(topic_info.message_type + "Response", "srv"); - } - catch (const std::exception& e) - { - ROS_WARN_STREAM("Unable to look up service definition: " << e.what()); - } - service_md5_ = srvinfo.md5sum; - request_message_md5_ = reqinfo.md5sum; - response_message_md5_ = respinfo.md5sum; - - ros::ServiceClientOptions opts; - opts.service = topic_info.topic_name; - opts.md5sum = srvinfo.md5sum; - opts.persistent = false; // always false for now - service_client_ = nh.serviceClient(opts); - } - void setTopicId(uint16_t topic_id) { - topic_id_ = topic_id; - } - std::string getServiceMD5() { - return service_md5_; - } - std::string getRequestMessageMD5() { - return request_message_md5_; - } - std::string getResponseMessageMD5() { - return response_message_md5_; - } - - void handle(ros::serialization::IStream stream) { - // deserialize request message - ros::serialization::Serializer::read(stream, request_message_); - - // perform service call - // note that at present, at least for rosserial-windows a service call returns nothing, - // so we discard the return value of this call() invocation. - service_client_.call(request_message_, response_message_, service_md5_); - - // write service response over the wire - size_t length = ros::serialization::serializationLength(response_message_); - std::vector buffer(length); - ros::serialization::OStream ostream(&buffer[0], length); - ros::serialization::Serializer::write(ostream, response_message_); - write_fn_(buffer,topic_id_); - } - -private: - topic_tools::ShapeShifter request_message_; - topic_tools::ShapeShifter response_message_; - ros::ServiceClient service_client_; - boost::function& buffer, const uint16_t topic_id)> write_fn_; - std::string service_md5_; - std::string request_message_md5_; - std::string response_message_md5_; - uint16_t topic_id_; -}; - -typedef boost::shared_ptr ServiceClientPtr; - -} // namespace - -#endif // ROSSERIAL_SERVER_TOPIC_HANDLERS_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_socket_session.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_socket_session.h deleted file mode 100644 index 6e38dae..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_socket_session.h +++ /dev/null @@ -1,94 +0,0 @@ -/** - * - * \file - * \brief Reconnecting class for a UDP rosserial session. - * \author Mike Purvis - * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H -#define ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H - -#include -#include -#include - -#include - -#include "rosserial_server/session.h" -#include "rosserial_server/udp_stream.h" - - -namespace rosserial_server -{ - -using boost::asio::ip::udp; - -class UdpSocketSession : public Session -{ -public: - UdpSocketSession(boost::asio::io_service& io_service, - udp::endpoint server_endpoint, - udp::endpoint client_endpoint) - : Session(io_service), timer_(io_service), - server_endpoint_(server_endpoint), client_endpoint_(client_endpoint) - { - ROS_INFO_STREAM("rosserial_server UDP session created between " << server_endpoint << " and " << client_endpoint); - check_connection(); - } - -private: - void check_connection() - { - if (!is_active()) - { - socket().open(server_endpoint_, client_endpoint_); - start(); - } - - // Every second, check again if the connection should be reinitialized, - // if the ROS node is still up. - if (ros::ok()) - { - timer_.expires_from_now(boost::posix_time::milliseconds(2000)); - timer_.async_wait(boost::bind(&UdpSocketSession::check_connection, this)); - } - else - { - shutdown(); - } - } - - boost::asio::deadline_timer timer_; - udp::endpoint server_endpoint_; - udp::endpoint client_endpoint_; -}; - -} // namespace - -#endif // ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_stream.h b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_stream.h deleted file mode 100644 index 30034cb..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/include/rosserial_server/udp_stream.h +++ /dev/null @@ -1,133 +0,0 @@ -/** - * - * \file - * \brief Adapter which allows a single-ended UDP connection to - * present the stream interface. - * \author Mike Purvis - * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef ROSSERIAL_SERVER_UDP_STREAM_H -#define ROSSERIAL_SERVER_UDP_STREAM_H - -#include -#include -#include - -#include - -#include "rosserial_server/session.h" - - -namespace rosserial_server -{ - -using boost::asio::ip::udp; -#if BOOST_VERSION < 107000 -using boost::asio::handler_type; -#endif - - -class UdpStream : public udp::socket -{ -public: - explicit UdpStream(boost::asio::io_service& io_service) : udp::socket(io_service) - { - } - - void open(udp::endpoint server_endpoint, udp::endpoint client_endpoint) - { - boost::system::error_code ec; - const protocol_type protocol = server_endpoint.protocol(); - - udp::socket::open(protocol, ec); - boost::asio::detail::throw_error(ec, "open"); - - udp::socket::bind(server_endpoint, ec); - boost::asio::detail::throw_error(ec, "bind"); - - client_endpoint_ = client_endpoint; - } - - template - BOOST_ASIO_INITFN_RESULT_TYPE(WriteHandler, - void (boost::system::error_code, std::size_t)) - async_write_some(const ConstBufferSequence& buffers, - BOOST_ASIO_MOVE_ARG(WriteHandler) handler) - { - // If you get an error on the following line it means that your handler does - // not meet the documented type requirements for a WriteHandler. - BOOST_ASIO_WRITE_HANDLER_CHECK(WriteHandler, handler) type_check; -#if (BOOST_VERSION >= 106600) - // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html - boost::asio::async_completion init(handler); - - udp::socket::async_send_to( - buffers, client_endpoint_, 0, init.completion_handler); - - return init.result.get(); -#else - return this->get_service().async_send_to( - this->get_implementation(), buffers, client_endpoint_, 0, - BOOST_ASIO_MOVE_CAST(WriteHandler)(handler)); -#endif - } - - template - BOOST_ASIO_INITFN_RESULT_TYPE(ReadHandler, - void (boost::system::error_code, std::size_t)) - async_read_some(const MutableBufferSequence& buffers, - BOOST_ASIO_MOVE_ARG(ReadHandler) handler) - { - // If you get an error on the following line it means that your handler does - // not meet the documented type requirements for a ReadHandler. - BOOST_ASIO_READ_HANDLER_CHECK(ReadHandler, handler) type_check; -#if (BOOST_VERSION >= 106600) - // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html - boost::asio::async_completion init(handler); - - udp::socket::async_receive( - buffers, 0, init.completion_handler); - - return init.result.get(); -#else - return this->get_service().async_receive_from( - this->get_implementation(), buffers, client_endpoint_, 0, - BOOST_ASIO_MOVE_CAST(ReadHandler)(handler)); -#endif - } - -private: - udp::endpoint client_endpoint_; -}; - -} // namespace - -#endif // ROSSERIAL_SERVER_UDP_STREAM_H diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/serial.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/serial.launch deleted file mode 100644 index 8928429..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/serial.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/socket.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/socket.launch deleted file mode 100644 index cde949c..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/socket.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/stm32.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/stm32.launch deleted file mode 100644 index 81d1db9..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/stm32.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - require: - publishers: [ robot_velocity ] - subscribers: [ ] - - - \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/udp_socket.launch b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/udp_socket.launch deleted file mode 100644 index 9b79aed..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/launch/udp_socket.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/package.xml b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/package.xml deleted file mode 100644 index df73c39..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - rosserial_server - 0.9.2 - - A more performance- and stability-oriented server alternative implemented - in C++ to rosserial_python. - - - Mike Purvis - Mike Purvis - - BSD - - catkin - rosserial_msgs - std_msgs - roscpp - topic_tools - python3-dev - libboost-thread-dev - libboost-thread - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/msg_lookup.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/msg_lookup.cpp deleted file mode 100644 index b2c0e23..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/msg_lookup.cpp +++ /dev/null @@ -1,102 +0,0 @@ -/** - * \author Mike Purvis - * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - */ - -#include "rosserial_server/msg_lookup.h" -#include "Python.h" - -namespace rosserial_server -{ - -const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule) -{ - // Lazy-initialize the embedded Python interpreter. Avoid calling the corresponding - // finalize method due to issues with importing cyaml in the second instance. The - // total memory cost of having this in-process is only about 5-6MB. - Py_Initialize(); - - MsgInfo msginfo; - size_t slash_pos = message_type.find('/'); - if (slash_pos == std::string::npos) - { - throw std::runtime_error("Passed message type string does not include a slash character."); - } - std::string module_name = message_type.substr(0, slash_pos); - std::string class_name = message_type.substr(slash_pos + 1, std::string::npos); - - PyObject* module = PyImport_ImportModule((module_name + "." + submodule).c_str()); - if (!module) - { - throw std::runtime_error("Unable to import message module " + module_name + "."); - } - PyObject* msg_class = PyObject_GetAttrString(module, class_name.c_str()); - if (!msg_class) - { - throw std::runtime_error("Unable to find message class " + class_name + - " in module " + module_name + "."); - } - Py_XDECREF(module); - - PyObject* full_text = PyObject_GetAttrString(msg_class, "_full_text"); - PyObject* md5sum = PyObject_GetAttrString(msg_class, "_md5sum"); - if (!md5sum) - { - throw std::runtime_error("Class for message " + message_type + " did not contain" + - "expected _md5sum attribute."); - } - Py_XDECREF(msg_class); - -#if PY_VERSION_HEX > 0x03000000 - if (full_text) - { - msginfo.full_text.assign(PyUnicode_AsUTF8(full_text)); - } - msginfo.md5sum.assign(PyUnicode_AsUTF8(md5sum)); -#else - if (full_text) - { - msginfo.full_text.assign(PyString_AsString(full_text)); - } - msginfo.md5sum.assign(PyString_AsString(md5sum)); -#endif - - // See https://github.com/ros/ros_comm/issues/344 - // and https://github.com/ros/gencpp/pull/14 - // Valid full_text returned, but it is empty, so insert single line - if (full_text && msginfo.full_text.empty()) - { - msginfo.full_text = "\n"; - } - - Py_XDECREF(full_text); - Py_XDECREF(md5sum); - - return msginfo; -} - -} // namespace rosserial_server diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/serial_node.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/serial_node.cpp deleted file mode 100644 index 8fcd890..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/serial_node.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/** - * - * \file - * \brief Main entry point for the serial node. - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include -#include -#include - -#include - -#include "rosserial_server/serial_session.h" - - -int main(int argc, char* argv[]) -{ - ros::init(argc, argv, "rosserial_server_serial_node"); - - std::string port; - int baud; - ros::param::param("~port", port, "/dev/ttyACM0"); - ros::param::param("~baud", baud, 57600); - - boost::asio::io_service io_service; - rosserial_server::SerialSession serial_session(io_service, port, baud); - io_service.run(); - return 0; -} diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/socket_node.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/socket_node.cpp deleted file mode 100644 index e803b6d..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/socket_node.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/** - * - * \file - * \brief Main entry point for the socket server node. - * \author Mike Purvis - * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include -#include -#include - -#include - -#include "rosserial_server/tcp_server.h" - - -int main(int argc, char* argv[]) -{ - ros::init(argc, argv, "rosserial_server_socket_node"); - - int port; - ros::param::param("~port", port, 11411); - - boost::asio::io_service io_service; - rosserial_server::TcpServer<> tcp_server(io_service, port); - - ROS_INFO_STREAM("Listening for rosserial TCP connections on port " << port); - io_service.run(); - return 0; -} diff --git a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/udp_socket_node.cpp b/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/udp_socket_node.cpp deleted file mode 100644 index 1ff7718..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/firmware_commun/src/rosserial_server/src/udp_socket_node.cpp +++ /dev/null @@ -1,65 +0,0 @@ -/** - * - * \file - * \brief Main entry point for the UDP socket server node. - * \author Mike Purvis - * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include -#include -#include - -#include - -#include "rosserial_server/udp_socket_session.h" - -using boost::asio::ip::udp; -using boost::asio::ip::address; - - -int main(int argc, char* argv[]) -{ - ros::init(argc, argv, "rosserial_server_udp_socket_node"); - - int server_port; - int client_port; - std::string client_addr; - ros::param::param("~server_port", server_port, 11411); - ros::param::param("~client_port", client_port, 11411); - ros::param::param("~client_addr", client_addr, "127.0.0.1"); - - boost::asio::io_service io_service; - rosserial_server::UdpSocketSession udp_socket_session( - io_service, - udp::endpoint(udp::v4(), server_port), - udp::endpoint(address::from_string(client_addr), client_port)); - io_service.run(); - - return 0; -} diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/CMakeLists.txt b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/CMakeLists.txt deleted file mode 100644 index db04404..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/CMakeLists.txt +++ /dev/null @@ -1,206 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(flask_esp8266) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES flask_esp8266 -# CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/flask_esp8266.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/flask_esp8266_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_flask_esp8266.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/package.xml b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/package.xml deleted file mode 100644 index 176331e..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/package.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - flask_esp8266 - 0.0.0 - The flask_esp8266 package - - - - - root - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - roscpp - rospy - std_msgs - - - - - - - - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py deleted file mode 100644 index 9dcba8a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py +++ /dev/null @@ -1,44 +0,0 @@ - -#!/usr/bin/env python3 -import rospy -import requests -from std_msgs.msg import Int32 - -# 獲取按鈕按壓次數 -def fetch_button_press_count(): - try: - response = requests.get("http://192.168.50.140:5000/") # Flask 伺服器的主頁面 - if response.status_code == 200: - # 按照伺服器返回的格式解析按壓次數 - text = response.text - counts = text.split(", ") - button1_count = int(counts[0].split(": ")[1]) - button2_count = int(counts[1].split(": ")[1]) - return button1_count, button2_count - else: - rospy.logwarn(f"Failed to fetch button press count, status code: {response.status_code}") - return None, None - except requests.ConnectionError: - rospy.logwarn("Connection Error. Make sure the server is running.") - return None, None - -# 發佈按鈕按壓次數到 ROS topic -def publish_button_press_count(): - rospy.init_node('button_press_publisher', anonymous=True) - pub_button1 = rospy.Publisher('button1_press_count', Int32, queue_size=10) - pub_button2 = rospy.Publisher('button2_press_count', Int32, queue_size=10) - rate = rospy.Rate(20) # 每秒發佈 20 次，對應 50 毫秒 - - while not rospy.is_shutdown(): - button1_count, button2_count = fetch_button_press_count() - if button1_count is not None and button2_count is not None: - pub_button1.publish(button1_count) - pub_button2.publish(button2_count) - rospy.loginfo(f"Published button1 count: {button1_count}, button2 count: {button2_count}") - rate.sleep() - -if __name__ == "__main__": - try: - publish_button_press_count() - except rospy.ROSInterruptException: - pass diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/app.py b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/app.py deleted file mode 100644 index a8e09b0..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/app.py +++ /dev/null @@ -1,45 +0,0 @@ -from flask import Flask, request # type: ignore -import json - -app = Flask(__name__) - -# 用於儲存每個按鈕的最新狀態 -button1_press_count = 0 # 累積按鈕按下的次數 -button2_press_count = 0 # 累積按鈕按下的次數 -button1_last = 0 -button2_last = 0 - -@app.route('/') -def home(): - return f"Button 1 press count: {button1_press_count}, Button 2 press count: {button2_press_count}" - -@app.route('/update_buttons', methods=['POST']) -def update_buttons(): - global button1_press_count, button2_press_count, button1_last, button2_last - try: - # 獲取並解析 JSON 數據 - data = request.get_json() - if data is None: - return "Invalid JSON", 400 - - button1_status = data.get("button1", 0) - button2_status = data.get("button2", 0) - - # 確保只有在按下時才計數，避免抖動 - if button1_status == 1 and button1_last == 0: - button1_press_count += 1 - if button2_status == 1 and button2_last == 0: - button2_press_count += 1 - - # 更新按鈕最後狀態 - button1_last = button1_status - button2_last = button2_status - - print(f"Received: {data}, Total Press Count 1: {button1_press_count}, Total Press Count 2: {button2_press_count}") - return "Button statuses updated", 200 - except Exception as e: - print(f"Error: {e}") - return "Internal Server Error", 500 - -if __name__ == '__main__': - app.run(host='0.0.0.0', port=5000) \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh b/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh deleted file mode 100644 index d37a90a..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/flask_esp8266/src/start_flask.sh +++ /dev/null @@ -1,18 +0,0 @@ -# # download -# sudo apt-get update -# sudo apt-get install -y python3-pip -# echo "alias python=python3" >> ~/.bashrc -# source ~/.bashrc -# pip install Flask -# sudo apt-get --reinstall install python3-requests - -# # run python file -# cd src/flask_esp8266/src -# python app.py - -# # run ros file at another terminal - -# # cd /root/comm-ws && -# # source devel/setup.bash -# # python3 /root/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py - diff --git a/docker/local-ros2/OdomComm/comm-ws/src/run_test.sh b/docker/local-ros2/OdomComm/comm-ws/src/run_test.sh deleted file mode 100644 index 14e2341..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/src/run_test.sh +++ /dev/null @@ -1,16 +0,0 @@ -# start up -source /opt/ros/noetic/setup.bash - -# run -rostopic pub -1 /cmd_vel geometry_msgs/Twist '[0.3, 0.0, 0.0]' '[0.0, 0.0, 0.0]' & -# continue in 3 second -sleep 3 -# Ctrl+C -kill $! - -# stop -rostopic pub -1 /cmd_vel geometry_msgs/Twist '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.0]' & -# wait for 1 second -sleep 1 -# Ctrl+C -kill $! diff --git a/docker/local-ros2/OdomComm/comm-ws/start_flash.sh b/docker/local-ros2/OdomComm/comm-ws/start_flash.sh deleted file mode 100644 index 81c16f1..0000000 --- a/docker/local-ros2/OdomComm/comm-ws/start_flash.sh +++ /dev/null @@ -1,31 +0,0 @@ -#!/bin/bash - -# 更新套件並安裝必要工具 -echo "Updating system and installing dependencies..." -sudo apt-get update -sudo apt-get install -y python3-pip -sudo apt-get --reinstall install python3-requests - -# 設定 Python3 別名 -echo "Setting alias for Python..." -if ! grep -q "alias python=python3" ~/.bashrc; then - echo "alias python=python3" >> ~/.bashrcc - source ~/.bashrc -fi - -# 安裝 Flask -echo "Installing Flask..." -pip install Flask - -# 啟動 ROS 環境 -echo "Sourcing ROS setup..." -source devel/setup.bash - -# 啟動 Flask 應用程式 -echo "Starting Flask app..." -cd src/flask_esp8266/src -python3 app.py & # 背景執行 Flask 應用程式 - -# 啟動按鈕狀態發布腳本 -echo "Starting button press publisher script..." -python3 /root/comm-ws/src/flask_esp8266/scripts/button_press_publisher.py diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml index 565a146..3967c6a 100644 --- a/docker/local-ros2/OdomComm/docker/compose.yml +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -96,5 +96,5 @@ services: # - /dev/snd:/dev/snd - /dev:/dev # Mount workspace - - ../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws command: /bin/bash \ No newline at end of file From d7acbcb32409fd7d4bc8d504a77276a1ee604d14 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 17 Jan 2025 22:31:16 +0800 Subject: [PATCH 029/184] Add: (Docker-testBot) ROS2 for testBot --- docker/testBot/Dockerfile | 120 ++-- docker/testBot/OdomComm/_run.sh | 14 + docker/testBot/OdomComm/build_and_run.sh | 22 + docker/testBot/OdomComm/docker/Dockerfile | 151 +++++ .../OdomComm/docker/Dockerfile-rosserial | 51 ++ .../OdomComm/docker/compose-serial.yaml | 29 + docker/testBot/OdomComm/docker/compose.yml | 100 +++ .../docker/odometry/odometry/CMakeLists.txt | 212 ++++++ .../odometry/odometry/cfg/odometry_param.cfg | 29 + .../odometry/include/odometry/odometry.h | 80 +++ .../odometry/launch/odometry_comm.launch | 32 + .../docker/odometry/odometry/lib/odometry.cpp | 359 ++++++++++ .../docker/odometry/odometry/package.xml | 76 +++ .../odometry/param/odometry_comm.yaml | 32 + .../odometry/odometry/src/odometry_node.cpp | 29 + .../odometry/rosserial_msgs/CHANGELOG.rst | 105 +++ .../odometry/rosserial_msgs/CMakeLists.txt | 21 + .../odometry/rosserial_msgs/msg/Log.msg | 10 + .../odometry/rosserial_msgs/msg/TopicInfo.msg | 21 + .../odometry/rosserial_msgs/package.xml | 18 + .../rosserial_msgs/srv/RequestParam.srv | 7 + .../odometry/rosserial_server/CHANGELOG.rst | 130 ++++ .../odometry/rosserial_server/CMakeLists.txt | 77 +++ .../rosserial_server/async_read_buffer.h | 204 ++++++ .../include/rosserial_server/msg_lookup.h | 44 ++ .../include/rosserial_server/serial_session.h | 118 ++++ .../include/rosserial_server/session.h | 625 ++++++++++++++++++ .../include/rosserial_server/tcp_server.h | 92 +++ .../include/rosserial_server/topic_handlers.h | 195 ++++++ .../rosserial_server/udp_socket_session.h | 94 +++ .../include/rosserial_server/udp_stream.h | 133 ++++ .../rosserial_server/launch/serial.launch | 6 + .../rosserial_server/launch/socket.launch | 3 + .../rosserial_server/launch/udp_socket.launch | 9 + .../odometry/rosserial_server/package.xml | 23 + .../rosserial_server/src/msg_lookup.cpp | 102 +++ .../rosserial_server/src/serial_node.cpp | 56 ++ .../rosserial_server/src/socket_node.cpp | 56 ++ .../rosserial_server/src/udp_socket_node.cpp | 65 ++ .../testBot/OdomComm/docker/start-bridge.sh | 14 + docker/testBot/OdomComm/pull_and_run.sh | 23 + docker/testBot/docker-compose.yaml | 40 +- 42 files changed, 3546 insertions(+), 81 deletions(-) create mode 100644 docker/testBot/OdomComm/_run.sh create mode 100644 docker/testBot/OdomComm/build_and_run.sh create mode 100644 docker/testBot/OdomComm/docker/Dockerfile create mode 100644 docker/testBot/OdomComm/docker/Dockerfile-rosserial create mode 100644 docker/testBot/OdomComm/docker/compose-serial.yaml create mode 100644 docker/testBot/OdomComm/docker/compose.yml create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/CMakeLists.txt create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/include/odometry/odometry.h create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/lib/odometry.cpp create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/package.xml create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml create mode 100644 docker/testBot/OdomComm/docker/odometry/odometry/src/odometry_node.cpp create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_msgs/package.xml create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/serial.launch create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/socket.launch create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/package.xml create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp create mode 100644 docker/testBot/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp create mode 100644 docker/testBot/OdomComm/docker/start-bridge.sh create mode 100755 docker/testBot/OdomComm/pull_and_run.sh diff --git a/docker/testBot/Dockerfile b/docker/testBot/Dockerfile index 37ea01d..4c7bac3 100644 --- a/docker/testBot/Dockerfile +++ b/docker/testBot/Dockerfile @@ -1,11 +1,11 @@ ################################################################################################ # - Base stage # - This stage serves as the foundational stage for all other stages. -# - Base image: OSRF ROS Noetic Desktop Full -# - https://hub.docker.com/r/osrf/ros/tags?page=1&name=noetic-desktop-full +# - Base image: OSRF ROS Humble Desktop Full +# - https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble-desktop-full ################################################################################################ -FROM osrf/ros:noetic-desktop-full AS base +FROM osrf/ros:humble-desktop-full AS base LABEL org.opencontainers.image.authors="yoseph.huang@gmail.com" @@ -15,6 +15,7 @@ ARG USER_GID=$USER_UID SHELL ["/bin/bash", "-c"] + ################################################################################################ # - User Setup stage # - In this stage, create a non-root user and configure passwordless sudo. @@ -22,7 +23,7 @@ SHELL ["/bin/bash", "-c"] FROM base AS user-setup -# Create a non-root user +## Create a non-root user RUN groupadd --gid $USER_GID $USERNAME && \ useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash && \ apt-get update && \ @@ -31,6 +32,7 @@ RUN groupadd --gid $USER_GID $USERNAME && \ chmod 0440 /etc/sudoers.d/$USERNAME && \ rm -rf /var/lib/apt/lists/* + ################################################################################################ # - Tools Installation stage # - In this stage, I will install convenient tools for development. @@ -38,109 +40,81 @@ RUN groupadd --gid $USER_GID $USERNAME && \ FROM user-setup AS tools -# Install necessary packages +## Install necessary packages RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ DEBIAN_FRONTEND=noninteractive apt-get install -y \ + python3-pip \ + python3-rosdep \ + python3-setuptools \ + python3-numpy \ apt-utils \ git \ nano \ net-tools \ ssh \ usbutils \ - udev \ + udev \ x11-apps \ tmux \ - htop \ + htop \ + ros-humble-foxglove-bridge \ libsdl-image1.2-dev \ - libsdl-dev \ - ros-noetic-tf2-sensor-msgs \ - ros-noetic-move-base-msgs \ - ros-noetic-mbf-costmap-core \ - ros-noetic-mbf-msgs \ + libarmadillo-dev \ + libboost-all-dev \ + # ros-humble-laser-geometry \ libsuitesparse-dev \ - ros-noetic-libg2o \ - ros-noetic-teleop-twist-keyboard \ - ros-noetic-costmap-converter \ - ros-noetic-robot-localization \ - ros-noetic-imu-tools \ + ros-humble-libg2o \ + # ros-humble-imu-tools \ libusb-1.0-0 libusb-1.0-0-dev -y && \ rm -rf /var/lib/apt/lists/* - -################################################################################################ -# - RPLiDar Installation stage -# - In this stage, install necessary tools for RPLiDar. -################################################################################################ - -FROM tools AS rplidar-dep -RUN apt-get update && apt-get install -y \ - python3-pip \ - python3-rosdep \ - python3-setuptools \ - python3-numpy \ - git && \ - apt-get clean - -WORKDIR /home/${USERNAME}/localization-ws-ros1 -RUN git clone https://github.com/Slamtec/rplidar_ros.git /home/${USERNAME}/localization-ws-ros1/src/rplidar-ros-driver -RUN . /opt/ros/noetic/setup.sh && \ - catkin_make - + ################################################################################################ -# - Obstacle detect Installation stage +# - IMU Installation stage +# - In this stage, install neccesary stuff for phidget IMU spatial. ################################################################################################ -FROM rplidar-dep AS obs-dep +FROM tools AS imu-dep +## Install necessary tools for imu RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ DEBIAN_FRONTEND=noninteractive apt-get install -y \ - ros-noetic-laser-geometry \ - libarmadillo-dev \ - libboost-all-dev \ + ros-humble-imu-tools \ && rm -rf /var/lib/apt/lists/* -WORKDIR /home/${USERNAME}/localization-ws-ros1 -RUN mkdir -p /home/${USERNAME}/localization-ws-ros1/src/localization-devel-ws && \ - git clone https://github.com/tysik/obstacle_detector.git /home/${USERNAME}/localization-ws-ros1/src/localization-devel-ws/obstacle_detector - -RUN sudo apt-get update && \ - rosdep update && \ - rosdep install --from-paths . --ignore-src -r -y - -# Build the workspace -USER root -RUN echo "source /opt/ros/noetic/setup.bash" >> /etc/bash.bashrc && \ - echo "source /home/${USERNAME}/localization-ws-ros1/devel/setup.bash" >> /etc/bash.bashrc -# Clean up -RUN sudo rm -rf /var/lib/apt/lists/* +USER ${USERNAME} +WORKDIR /home/user/localization-ws/src/phidgets_drivers +COPY phidgets_drivers /home/user/localization-ws/src/phidgets_drivers ################################################################################################ -# - Spatial-driver Installation stage +# - RPLiDar and obstacle detector Installation stage +# - In this stage, install neccesary stuff for RPLiDar. ################################################################################################ -FROM obs-dep AS imu-dep -RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ - DEBIAN_FRONTEND=noninteractive apt-get install -y \ - python3-pip \ - ros-noetic-imu-tools \ - libusb-1.0-0 libusb-1.0-0-dev \ - && rm -rf /var/lib/apt/lists/* -COPY phidgets_drivers /home/${USERNAME}/localization-ws-ros1/src/phidgets_drivers +FROM imu-dep AS lidar-dep +USER ${USERNAME} +WORKDIR /home/user/localization-ws/src/rplidar-ros-driver +RUN git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git /home/user/localization-ws/src/rplidar-ros-driver/ +RUN git clone -b humble-devel https://github.com/harmony-eu/obstacle_detector_2.git /home/user/localization-ws/src/obstacle_detector_2 ################################################################################################ # - Final stage +# ################################################################################################ -FROM imu-dep AS final +FROM lidar-dep AS final ## Set working directory -WORKDIR /home/${USERNAME}/localization-ws-ros1 +WORKDIR /home/${USERNAME}/localization-ws +# RUN sudo chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/localization-ws +USER ${USERNAME} +RUN sudo apt-get update && \ + rosdep update && \ + rosdep install -y -r -q --from-paths src --ignore-src --rosdistro $ROS_DISTRO && \ + /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --symlink-install' \ + && sudo rm -rf /var/lib/apt/lists/* -# Ensure that the ROS workspace is built and set up correctly -RUN source /opt/ros/noetic/setup.bash && \ - cd /home/${USERNAME}/localization-ws-ros1 && \ - catkin_make +COPY .bashrc /home/$USERNAME/.bashrc.conf +RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc USER ${USERNAME} -SHELL ["/bin/bash", "-c"] - CMD ["/bin/bash"] \ No newline at end of file diff --git a/docker/testBot/OdomComm/_run.sh b/docker/testBot/OdomComm/_run.sh new file mode 100644 index 0000000..9e82b64 --- /dev/null +++ b/docker/testBot/OdomComm/_run.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +## 1. make scripts & library executable +echo "=== [COMMUNICATION] ===" +find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \; + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication up -d \ No newline at end of file diff --git a/docker/testBot/OdomComm/build_and_run.sh b/docker/testBot/OdomComm/build_and_run.sh new file mode 100644 index 0000000..a77990a --- /dev/null +++ b/docker/testBot/OdomComm/build_and_run.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +## 0. clean container within same group +echo "=== [COMMUNICATION] Build & Run ===" +echo "[COMMUNICATION] Remove Containers ..." +docker compose -p communication down --volumes --remove-orphans + +## 1. make scripts & library executable +find ../OdomComm -type f -name "*.sh" -exec sudo chmod +x {} \; + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. build image +echo "[COMMUNICATION] Building..." +docker compose -p communication build + +## 4. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication up -d \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/Dockerfile b/docker/testBot/OdomComm/docker/Dockerfile new file mode 100644 index 0000000..43a1026 --- /dev/null +++ b/docker/testBot/OdomComm/docker/Dockerfile @@ -0,0 +1,151 @@ +################################################################################################ +# - Base stage +# - This stage serves as the foundational stage for all other stages. +# - Base image: Ubuntu 22.04 Jammy Jellyfish +# - https://hub.docker.com/_/ubuntu/tags?page=1&name=22.04 +################################################################################################ + +FROM ubuntu:22.04 AS base + +LABEL org.opencontainers.image.authors="yuzhong1214@gmail.com" + +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale +ENV LC_ALL=en_US.UTF-8 +ENV LANG=en_US.UTF-8 + +SHELL ["/bin/bash", "-c"] + +# Add user +RUN useradd -ms /bin/bash user + +################################################################################################ +# - Build stage +# - In this stage, I will build ROS Humble and ros1-bridge from source. +# - Reference: +# - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html +# - https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html +################################################################################################ + +FROM base AS build + +# Install the required packages for the following command. +RUN apt-get update && \ + apt-get install -y \ + curl \ + locales \ + software-properties-common \ + lsb-release + +# Set locale. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale +RUN locale-gen en_US en_US.UTF-8 && \ + update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 + +# Add the ROS 2 apt repository. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#add-the-ros-2-apt-repository +RUN add-apt-repository universe && \ + curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null + +# Install development tools and ROS tools. +# Note that we declare noninteractive mode to avoid apt asking for user input. +# Additionally, install colcon from PyPI, rather than using apt packages. +# Reference: https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#install-development-tools-and-ros-tools +RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ + DEBIAN_FRONTEND=noninteractive apt-get install -y \ + build-essential \ + cmake \ + git \ + python3-flake8 \ + python3-flake8-blind-except \ + python3-flake8-builtins \ + python3-flake8-class-newline \ + python3-flake8-comprehensions \ + python3-flake8-deprecated \ + python3-flake8-docstrings \ + python3-flake8-import-order \ + python3-flake8-quotes \ + python3-pip \ + python3-pytest \ + python3-pytest-cov \ + python3-pytest-repeat \ + python3-pytest-rerunfailures \ + python3-rosdep \ + python3-setuptools \ + ros-dev-tools +RUN python3 -m pip install -U colcon-common-extensions vcstool + +# Create ros2_humble workspace, and clone all repositories from the list. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#get-ros-2-code +RUN mkdir -p /ros2_humble/src +WORKDIR /ros2_humble +RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src + +# Install dependencies. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-dependencies-using-rosdep +RUN rosdep init && \ + rosdep update && \ + rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" + +# Build the ros2_humble workspace. (This will take a few minutes) +# Note that we are using colcon build without the flag --symlink-install. +# This is because we will copy the built files from the build stage to the release stage. +# If we use the flag --symlink-install, the release stage will not be able to find the built files. +# Reference: https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#build-the-code-in-the-workspace +RUN colcon build + +# Delete packages.ros.org from sources.list and remove conflicts packages manually. +# Removing those conflicts packages is necessary for install ros-core-dev. +# Here is the dicussion about this issue: https://github.com/j3soon/ros2-essentials/pull/9#discussion_r1375303858 +# Reference: +# - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#ros-2-via-debian-packages +# - https://github.com/osrf/docker_images/issues/635#issuecomment-1217505552 +RUN rm -rf /etc/apt/sources.list.d/ros2.list && \ + apt-get remove -y \ + python3-catkin-pkg \ + python3-catkin-pkg-modules + +# Install ROS 1 from Ubuntu packages. +# Reference: https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#install-ros-1-from-ubuntu-packages +RUN apt-get update && \ + apt-get install -y ros-core-dev + +# Build ros1_bridge from source. +# Reference: https://github.com/ros2/ros1_bridge/tree/3d5328dc21564d2130b4ded30afe5cd1c41cf033#building-the-bridge-from-source +RUN git clone https://github.com/ros2/ros1_bridge src/ros1_bridge +RUN source install/setup.bash && \ + colcon build --packages-select ros1_bridge --cmake-force-configure + +# Other configurations +COPY ./start-bridge.sh /start-bridge.sh +RUN chmod +x /start-bridge.sh + +CMD ["/bin/bash"] + +################################################################################################ +# - Release stage +# - In this stage, I will copy the built files from the build stage. +# This is useful for reducing the size of the image. +# - Reference: +# - https://docs.docker.com/build/building/multi-stage/ +################################################################################################ + +FROM base AS release + +# Install ROS core and packages with their dependencies. +RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ + DEBIAN_FRONTEND=noninteractive apt-get install -y \ + libspdlog-dev \ + python3-packaging \ + ros-core-dev + +# Copy files from host and build stage +COPY --from=build /ros2_humble/install /ros2_humble/install + +# Other configurations +COPY ./start-bridge.sh /start-bridge.sh +USER user +RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc + +WORKDIR / +CMD ["./start-bridge.sh"] \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/Dockerfile-rosserial b/docker/testBot/OdomComm/docker/Dockerfile-rosserial new file mode 100644 index 0000000..1eda1ec --- /dev/null +++ b/docker/testBot/OdomComm/docker/Dockerfile-rosserial @@ -0,0 +1,51 @@ +################################################################################################ +# - Base stage +# - This stage serves as the foundational stage for all other stages. +# - Base image: OSRF ROS noetic Desktop Full +# - https://hub.docker.com/r/osrf/ros/tags?page=1&name=noetic-desktop-full +################################################################################################ + +FROM osrf/ros:noetic-desktop-full AS base + +LABEL org.opencontainers.image.authors="yoseph.huang@gmail.com" + +ARG USERNAME=user +ARG USER_UID=1000 +ARG USER_GID=$USER_UID + +SHELL ["/bin/bash", "-c"] + + +################################################################################################ +# - User Setup stage +# - In this stage, create a non-root user and configure passwordless sudo. +################################################################################################ + +FROM base AS user-setup + +## Create a non-root user +RUN groupadd --gid $USER_GID $USERNAME && \ + useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash && \ + apt-get update && \ + apt-get install -y sudo && \ + echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME && \ + chmod 0440 /etc/sudoers.d/$USERNAME && \ + rm -rf /var/lib/apt/lists/* + +FROM user-setup AS final + +USER ${USERNAME} +# COPY comm-ws /home/$USERNAME/comm-ws +RUN mkdir -p /home/$USERNAME/ws/src +COPY odometry /home/$USERNAME/ws/src/odometry + +# catkin_make +RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \ + rosdep update && \ + cd /home/$USERNAME/ws && \ + rosdep install -y -r -q --from-paths src --ignore-src --rosdistro noetic && \ + catkin_make" + +## Final configurations +USER $USERNAME +CMD ["/bin/bash"] \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/compose-serial.yaml b/docker/testBot/OdomComm/docker/compose-serial.yaml new file mode 100644 index 0000000..f66f575 --- /dev/null +++ b/docker/testBot/OdomComm/docker/compose-serial.yaml @@ -0,0 +1,29 @@ +services: + ros1: + image: ros1:serial + container_name: ros1 + stdin_open: true + tty: true + network_mode: host + privileged: true + volumes: + # - ../comm-ws:/root/comm-ws + # - /dev/bus/usb:/dev/bus/usb + - /dev:/dev + stop_grace_period: 1s + # depends_on: + # ros-core: + # condition: service_healthy + # command: /bin/bash -c " + # chmod +x /root/comm-ws/devel/_setup_util.py && + # find /root/comm-ws/devel -type f -name '*.sh' -exec chmod +x {} \; && + # source /opt/ros/noetic/setup.bash && + # source /root/comm-ws/devel/setup.bash && + # cd /root/comm-ws && + # sudo chmod 777 /dev/ttyACM0 && + # roslaunch rosserial_server stm32.launch" + command: /bin/bash -c " + source /opt/ros/noetic/setup.bash && + source ~/ws/devel/setup.bash && + sudo chmod 777 /dev/ttyACM0 && + roslaunch odometry odometry_comm.launch" \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml new file mode 100644 index 0000000..5f72480 --- /dev/null +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -0,0 +1,100 @@ +services: + ros-core: + image: osrf/ros:noetic-desktop-full + container_name: ros-core + command: "rosmaster --core" + network_mode: host + stop_grace_period: 1s + healthcheck: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + test: /ros_entrypoint.sh bash -c "rostopic list || exit 1" + interval: 3s + timeout: 10s + retries: 5 + + ros1-bridge: + build: + context: . + target: release + image: pomelo925/ttennis-humble:communication + container_name: ros2-ros1-bridge-ws + stop_grace_period: 1s + depends_on: + ros-core: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + condition: service_healthy + command: ./start-bridge.sh + stdin_open: true + tty: true + network_mode: host + working_dir: / + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Direct Rendering Infrastructure + - /dev/dri:/dev/dri + # Shared Memory + - /dev/shm:/dev/shm + + ros1: + image: jossiewang/eurobot2025-localization:ros1-serial + container_name: ros1 + stdin_open: true + tty: true + network_mode: host + privileged: true + volumes: + - /dev:/dev + stop_grace_period: 1s + depends_on: + ros-core: + condition: service_healthy + command: /bin/bash -c " + source /opt/ros/noetic/setup.bash && + source ~/ws/devel/setup.bash && + sudo chmod 777 /dev/ttyACM0 && + roslaunch odometry odometry_comm.launch" + + ros2-localization-dev: + build: + context: . + dockerfile: Dockerfile + args: + USERNAME: user + image: jossiewang/eurobot2025-localization:testBot-ros2 + container_name: localization-2025-dev-ros2 + stdin_open: true + tty: true + privileged: true + stop_grace_period: 1s + restart: no + # entrypoint: ["./start.sh"] + + network_mode: host + working_dir: /home/user/localization-ws + environment: + - DISPLAY=${DISPLAY} + # Set ros2 environment variables. + # References: + # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html + # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html + # - ROS_LOCALHOST_ONLY=1 + # - ROS_DOMAIN_ID=42 + - ROS_WS=/home/user/localization-ws + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + # Direct Rendering Infrastructure + # - /dev/dri:/dev/dri + # Mount sound card to prevent Gazebo warning. + # - /dev/snd:/dev/snd + - /dev:/dev + # Mount workspace + - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + command: /bin/bash \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/CMakeLists.txt b/docker/testBot/OdomComm/docker/odometry/odometry/CMakeLists.txt new file mode 100644 index 0000000..e45df10 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(odometry) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +generate_dynamic_reconfigure_options( + cfg/odometry_param.cfg +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES odometry +# CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/odometry_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +## -- Declare library -- ## +add_library(odometry lib/odometry.cpp) +target_link_libraries(odometry ${catkin_LIBRARIES}) +add_dependencies(odometry ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) + +## -- Build a nodes -- ## +add_executable(odometry_node src/odometry_node.cpp) +target_link_libraries(odometry_node odometry) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_odometry.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg b/docker/testBot/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg new file mode 100644 index 0000000..dca0f41 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/cfg/odometry_param.cfg @@ -0,0 +1,29 @@ +#!/usr/bin/env python +PACKAGE = "odometry" +NAMESPACE = "odometry" +GENERATE_FILE = "odometry_param" + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t, str_t + +gen = ParameterGenerator() + +gen.add("publish", bool_t, 0, "To publish or not", True) +gen.add("twist_topic", str_t, 0, "Topic to subscribe odometry information", "/Toposition") +gen.add("odom_topic", str_t, 0, "Topic to publish odometry information", "/odom") + +gen.add("fixed_frame", str_t, 0, "Parent frame", "odom") +gen.add("target_frame", str_t, 0, "Child frame", "base_footprint") + +gen.add("covariance_x", double_t, 0, "Covariance x", 0.05, 0, 1) +gen.add("covariance_y", double_t, 0, "Covariance y", 0.05, 0, 1) +gen.add("covariance_z", double_t, 0, "Covariance z", 0.1, 0, 1) +gen.add("covariance_vx", double_t, 0, "Covariance vx", 0.1, 0, 1) +gen.add("covariance_vy", double_t, 0, "Covariance vy", 0.1, 0, 1) +gen.add("covariance_vz", double_t, 0, "Covariance vz", 0.2, 0, 1) + +gen.add("covariance_multi_vx", double_t, 0, "Covariance multiplican for vx", 0.5, 0, 9) +gen.add("covariance_multi_vy", double_t, 0, "Covariance multiplican for vy", 0.5, 0, 9) +gen.add("covariance_multi_vz", double_t, 0, "Covariance multiplican for vz", 0.5, 0, 9) + + +exit(gen.generate(PACKAGE, NAMESPACE, GENERATE_FILE)) diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/include/odometry/odometry.h b/docker/testBot/OdomComm/docker/odometry/odometry/include/odometry/odometry.h new file mode 100644 index 0000000..89fab9a --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/include/odometry/odometry.h @@ -0,0 +1,80 @@ +#pragma once + +#include "ros/ros.h" +#include "nav_msgs/Odometry.h" +#include "geometry_msgs/Twist.h" +#include "std_srvs/Empty.h" +#include "std_msgs/Float64.h" + +#include +#include +#include +#include "odometry/odometry_paramConfig.h" + +class Odometry { + +public : + + Odometry(ros::NodeHandle &nh, ros::NodeHandle &nh_local); + +private : + + /* Function - for initialize params */ + void Initialize(); + + /* Function - for update params */ + bool UpdateParams(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + + /* Function - for twist callback */ + void TwistCallback(const geometry_msgs::Twist::ConstPtr &msg); + + /* Function -> for geometry_msgs::Twist ( cmd_vel ) */ + void P_VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg); + + /* Function -> for geometry_msgs::TwistWithCovariance ( ekf_pose ) */ + void VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg); + + /* Function publish sth we need */ + void publish(); + + /* Function for dynamic configure callback */ + void DynamicParamCallback(odometry::odometry_paramConfig &config, uint32_t level); + + /* Function to set up dynamic configure function and server */ + void SetDynamicReconfigure(); + + /** -- Node Handles -- **/ + ros::NodeHandle nh_; + ros::NodeHandle nh_local_; + + /** -- Advertise -- **/ + ros::Subscriber twist_sub_; + ros::Subscriber vel_sub_; + ros::Publisher odom_pub_; + ros::ServiceServer param_srv_; // Service for update param ( call by other nodes ) + + /** -- Msgs to pub -- **/ + nav_msgs::Odometry odometry_output_; + nav_msgs::Odometry odometry_output_backup_; + double covariance_multi_[3]; // x, y, z + + /** -- Parameters -- **/ + bool p_active_; + bool p_publish_; + bool p_update_params_; + bool p_sub_from_nav_; + bool p_use_dynamic_reconf_; + bool p_use_stm_integral_; + + double p_covariance_; + double p_covariance_multi_; + + std::string p_fixed_frame_; + std::string p_target_frame_; + + std::string p_twist_topic_; + std::string p_odom_topic_; + +}; + + diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch b/docker/testBot/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch new file mode 100644 index 0000000..4e40e2f --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + require: + publishers: [ odoo_googoogoo ] + subscribers: [ ] + + + + diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/lib/odometry.cpp b/docker/testBot/OdomComm/docker/odometry/odometry/lib/odometry.cpp new file mode 100644 index 0000000..ff8a1f6 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/lib/odometry.cpp @@ -0,0 +1,359 @@ +#include "odometry/odometry.h" + +Odometry::Odometry (ros::NodeHandle &nh, ros::NodeHandle &nh_local){ + + this->nh_ = nh; + this->nh_local_ = nh_local; + this->Initialize(); +} + +void Odometry::Initialize(){ + + std_srvs::Empty empty; + + this->p_active_ = false; + ROS_INFO_STREAM("[Odometry] : inactive node"); + + if(this->UpdateParams(empty.request, empty.response)){ + ROS_INFO_STREAM("[Odometry] : Initialize param ok"); + } + else { + ROS_INFO_STREAM("[Odometry] : Initialize param failed"); + } + +} + +bool Odometry::UpdateParams(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res){ + + bool prev_active = p_active_; + + double covariance[6]; + double multi_covariance[3]; + + /* get param */ + if(this->nh_local_.param("active", p_active_, true)){ + ROS_INFO_STREAM("[Odometry] : active set to " << p_active_); + } + + if(this->nh_local_.param("publish", p_publish_, true)){ + ROS_INFO_STREAM("[Odometry] : publish set to " << p_publish_); + } + + if(this->nh_local_.param("twist_topic", p_twist_topic_, "/Toposition")){ + ROS_INFO_STREAM("[Odometry] : Current subscribe topic [ " << p_twist_topic_ << " ]"); + } + + if(this->nh_local_.param("odom_topic", p_odom_topic_, "/odom")){ + ROS_INFO_STREAM("[Odometry] : Current publish topic [ " << p_odom_topic_ << " ]"); + } + + if(this->nh_local_.param("fixed_frame", p_fixed_frame_, "odom")){ + ROS_INFO_STREAM("[Odometry] : Current fixed frame [ " << p_fixed_frame_ << " ]"); + } + + if(this->nh_local_.param("target_frame", p_target_frame_, "base_footprint")){ + ROS_INFO_STREAM("[Odometry] : Current target frame [ " << p_target_frame_ << " ]"); + } + + if(this->nh_local_.param("update_params", p_update_params_, false)){ + ROS_INFO_STREAM("[Odometry] : update params set to " << p_update_params_); + } + + if(this->nh_local_.param("covariance_x", covariance[0], 0.)){ + ROS_INFO_STREAM("[Odometry] : x covariance set to " << covariance[0]); + this->odometry_output_.twist.covariance[0] = covariance[0]; + } + + if(this->nh_local_.param("covariance_y", covariance[1], 0.)){ + ROS_INFO_STREAM("[Odometry] : y covariance set to " << covariance[1]); + this->odometry_output_.twist.covariance[7] = covariance[1]; + } + + if(this->nh_local_.param("covariance_z", covariance[2], 0.)){ + ROS_INFO_STREAM("[Odometry] : z covariance set to " << covariance[2]); + this->odometry_output_.twist.covariance[14] = covariance[2]; + } + + if(this->nh_local_.param("covariance_vx", covariance[3], 0.)){ + ROS_INFO_STREAM("[Odometry] : vx covariance set to " << covariance[3]); + this->odometry_output_.twist.covariance[21] = covariance[3]; + } + + if(this->nh_local_.param("covariance_vy", covariance[4], 0.)){ + ROS_INFO_STREAM("[Odometry] : vy covariance set to " << covariance[4]); + this->odometry_output_.twist.covariance[28] = covariance[4]; + } + + if(this->nh_local_.param("covariance_vz", covariance[5], 0.)){ + ROS_INFO_STREAM("[Odometry] : vz covariance set to " << covariance[5]); + this->odometry_output_.twist.covariance[35] = covariance[5]; + } + + if(this->nh_local_.param("covariance_multi_vx", multi_covariance[0], 0.)){ + ROS_INFO_STREAM("[Odometry] : vx covariance multiplicant set to " << multi_covariance[0]); + covariance_multi_[0] = multi_covariance[0]; + } + + if(this->nh_local_.param("covariance_multi_vy", multi_covariance[1], 0.)){ + ROS_INFO_STREAM("[Odometry] : vy covariance multiplicant set to " << multi_covariance[1]); + covariance_multi_[1] = multi_covariance[1]; + } + + if(this->nh_local_.param("covariance_multi_vz", multi_covariance[2], 0.)){ + ROS_INFO_STREAM("[Odometry] : vz covariance multiplicant set to " << multi_covariance[2]); + covariance_multi_[2] = multi_covariance[2]; + } + + if(this->nh_local_.param("using_nav_vel_cb", p_sub_from_nav_, 0.)){ + ROS_INFO_STREAM("[Odometry] : current subscribe from nav cmd_vel is set to " << p_sub_from_nav_); + } + + if(this->nh_local_.param("using_dynamic_reconf", p_use_dynamic_reconf_, true)){ + ROS_INFO_STREAM("[Odometry] : using dynamic reconfigure is set to " << p_use_dynamic_reconf_); + } + + if(this->nh_local_.param("use_stm_integral", p_use_stm_integral_, true)){ + ROS_INFO_STREAM("[Odometry] : use stm integral " << p_use_stm_integral_); + } + + if(p_active_ != prev_active) { + + if (p_active_) { + + ROS_INFO_STREAM("[Odometry] : active node"); + this->twist_sub_ = nh_.subscribe(p_twist_topic_, 10, &Odometry::TwistCallback, this); + this->odom_pub_ = nh_.advertise(p_odom_topic_, 10); + + if(this->p_sub_from_nav_){ + this->vel_sub_ = nh_.subscribe("cmd_vel", 10, &Odometry::P_VelocityCallback, this); + } + else{ + this->vel_sub_ = nh_.subscribe("local_filter", 10, &Odometry::VelocityCallback, this); + } + + if(this->p_update_params_){ + this->param_srv_ = nh_local_.advertiseService("params", &Odometry::UpdateParams, this); + } + + if(this->p_use_dynamic_reconf_){ + this->SetDynamicReconfigure(); + } + + } + else { + this->twist_sub_.shutdown(); + this->odom_pub_.shutdown(); + this->vel_sub_.shutdown(); + + if(this->p_update_params_){ + this->param_srv_.shutdown(); + } + } + } + + + /* -- Backup covariance -- */ + this->odometry_output_backup_ = this->odometry_output_; + + /* -- Set basic variables -- */ + this->odometry_output_.header.frame_id = this->p_fixed_frame_; + this->odometry_output_.child_frame_id = this->p_target_frame_; + + return true; + +} + +void Odometry::TwistCallback(const geometry_msgs::Twist::ConstPtr &msg){ + + static unsigned int sequence = 0; + sequence++; + + this->odometry_output_.header.seq = sequence; + this->odometry_output_.header.stamp = ros::Time::now(); + + if(p_use_stm_integral_){ + this->odometry_output_.pose.pose.position.x = msg->angular.x; + this->odometry_output_.pose.pose.position.y = msg->angular.y; + + tf2::Quaternion quaternion; + quaternion.setRPY(0, 0, msg->linear.z); + + this->odometry_output_.pose.pose.orientation = tf2::toMsg(quaternion); + } + + this->odometry_output_.twist.twist.linear.x = msg->linear.x; + this->odometry_output_.twist.twist.linear.y = msg->linear.y; + this->odometry_output_.twist.twist.angular.z = msg->angular.z; + this->odometry_output_.pose.covariance[0] = 0.1; + this->odometry_output_.pose.covariance[7] = 0.1; + this->odometry_output_.pose.covariance[14] = 0.1; + this->odometry_output_.pose.covariance[21] = 0.1; + this->odometry_output_.pose.covariance[28] = 0.1; + this->odometry_output_.pose.covariance[35] = 0.1; + + if(this->p_publish_) this->publish(); + +} + + +void Odometry::P_VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg){ + + double covariance_multi[3]; + + covariance_multi[0] = this->covariance_multi_[0] * abs(msg->twist.twist.linear.x); + covariance_multi[1] = this->covariance_multi_[1] * abs(msg->twist.twist.linear.y); + covariance_multi[2] = this->covariance_multi_[2] * abs(msg->twist.twist.angular.z); + + this->odometry_output_.twist.covariance[0] = std::max(0.00000001, covariance_multi[0] + this->odometry_output_backup_.twist.covariance[0]); + this->odometry_output_.twist.covariance[7] = std::max(0.00000001, covariance_multi[1] + this->odometry_output_backup_.twist.covariance[7]); + this->odometry_output_.twist.covariance[14] = std::max(0.00000001, covariance_multi[2]+ this->odometry_output_backup_.twist.covariance[14]); + this->odometry_output_.twist.covariance[21] = std::max(0.00000001, covariance_multi[0] + this->odometry_output_backup_.twist.covariance[21]); + this->odometry_output_.twist.covariance[28] = std::max(0.00000001, covariance_multi[1] + this->odometry_output_backup_.twist.covariance[28]); + this->odometry_output_.twist.covariance[35] = std::max(0.00000001, covariance_multi[2] + this->odometry_output_backup_.twist.covariance[35]); + +} + + +void Odometry::VelocityCallback(const nav_msgs::Odometry::ConstPtr &msg){ + + boost::shared_ptr odometry_ptr(new nav_msgs::Odometry()); + + odometry_ptr->twist.twist.linear = msg->twist.twist.linear; + odometry_ptr->twist.twist.angular = msg->twist.twist.angular; + + this->P_VelocityCallback(odometry_ptr); + +} + +void Odometry::publish(){ + + this->odom_pub_.publish(this->odometry_output_); + +} + +void Odometry::DynamicParamCallback(odometry::odometry_paramConfig &config, uint32_t level){ + + /* get param */ + if(p_publish_ != config.publish){ + this->p_publish_ = config.publish; + ROS_INFO_STREAM("[Odometry] : publish set to " << p_publish_); + } + + if(p_twist_topic_ != config.twist_topic){ + + this->p_twist_topic_ = config.twist_topic; + + if(p_active_){ + this->twist_sub_ = nh_.subscribe(p_twist_topic_, 10, &Odometry::TwistCallback, this); + } + + ROS_INFO_STREAM("[Odometry] : Current subscribe topic [ " << p_twist_topic_ << " ]"); + } + + if(p_odom_topic_ != config.odom_topic){ + + this->p_odom_topic_ = config.odom_topic; + + if(p_active_){ + this->odom_pub_ = nh_.advertise(p_odom_topic_, 10); + } + + ROS_INFO_STREAM("[Odometry] : Current publish topic [ " << p_odom_topic_ << " ]"); + } + + if(p_fixed_frame_ != config.fixed_frame){ + + this->p_fixed_frame_ = config.fixed_frame; + this->odometry_output_.header.frame_id = this->p_fixed_frame_; + + ROS_INFO_STREAM("[Odometry] : Current fixed frame [ " << p_fixed_frame_ << " ]"); + } + + if(p_target_frame_ != config.target_frame){ + + this->p_target_frame_ = config.target_frame; + this->odometry_output_.child_frame_id = this->p_target_frame_; + + ROS_INFO_STREAM("[Odometry] : Current target frame [ " << p_target_frame_ << " ]"); + } + + if(this->odometry_output_backup_.twist.covariance[0] != config.covariance_x){ + + this->odometry_output_backup_.twist.covariance[0] = config.covariance_x; + + ROS_INFO_STREAM("[Odometry] : x covariance set to " << this->odometry_output_backup_.twist.covariance[0]); + } + + if(this->odometry_output_backup_.twist.covariance[7] != config.covariance_y){ + + this->odometry_output_backup_.twist.covariance[7] = config.covariance_y; + + ROS_INFO_STREAM("[Odometry] : y covariance set to " << this->odometry_output_backup_.twist.covariance[7]); + } + + if(this->odometry_output_backup_.twist.covariance[14] != config.covariance_z){ + + this->odometry_output_backup_.twist.covariance[14] = config.covariance_z; + + ROS_INFO_STREAM("[Odometry] : z covariance set to " << this->odometry_output_backup_.twist.covariance[14]); + } + + if(this->odometry_output_backup_.twist.covariance[21] != config.covariance_vx){ + + this->odometry_output_backup_.twist.covariance[21] = config.covariance_vx; + + ROS_INFO_STREAM("[Odometry] : vx covariance set to " << this->odometry_output_backup_.twist.covariance[21]); + } + + if(this->odometry_output_backup_.twist.covariance[28] != config.covariance_vy){ + + this->odometry_output_backup_.twist.covariance[28] = config.covariance_vy; + + ROS_INFO_STREAM("[Odometry] : vy covariance set to " << this->odometry_output_backup_.twist.covariance[28]); + } + + if(this->odometry_output_backup_.twist.covariance[35] != config.covariance_vz){ + + this->odometry_output_backup_.twist.covariance[35] = config.covariance_vz; + + ROS_INFO_STREAM("[Odometry] : vz covariance set to " << this->odometry_output_backup_.twist.covariance[35]); + } + + if(this->covariance_multi_[0] != config.covariance_multi_vx){ + + this->covariance_multi_[0] = config.covariance_multi_vx; + + ROS_INFO_STREAM("[Odometry] : vx covariance multiplicant set to " << this->covariance_multi_[0]); + } + + if(this->covariance_multi_[1] != config.covariance_multi_vy){ + + this->covariance_multi_[1] = config.covariance_multi_vy; + + ROS_INFO_STREAM("[Odometry] : vy covariance multiplicant set to " << this->covariance_multi_[1]); + } + + if(this->covariance_multi_[2] != config.covariance_multi_vz){ + + this->covariance_multi_[2] = config.covariance_multi_vz; + + ROS_INFO_STREAM("[Odometry] : vz covariance multiplicant set to " << this->covariance_multi_[2]); + } + + this->odometry_output_.twist.covariance = this->odometry_output_backup_.twist.covariance; + +} + +void Odometry::SetDynamicReconfigure(){ + + static dynamic_reconfigure::Server dynamic_param_srv_; + + dynamic_reconfigure::Server::CallbackType callback; + + // If the function is a class member : + // boost::bind(&function, class instance, _1, _2) + callback = boost::bind(&Odometry::DynamicParamCallback, this, _1, _2); + + // Set callback function to param server + dynamic_param_srv_.setCallback(callback); +} diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/package.xml b/docker/testBot/OdomComm/docker/odometry/odometry/package.xml new file mode 100644 index 0000000..6679d91 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/package.xml @@ -0,0 +1,76 @@ + + + odometry + 0.0.0 + The odometry package + + + + + assume + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + geometry_msgs + nav_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure + + + + + + + + diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml b/docker/testBot/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml new file mode 100644 index 0000000..3144dda --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/param/odometry_comm.yaml @@ -0,0 +1,32 @@ +# Active this node +active: true + +# Set publish to this node +publish: true + +# Open param service +update_params: false + +# Covariance for "const" part +covariance_x: 0.0005 +covariance_y: 0.0005 +covariance_z: 0.01 +covariance_vx: 0.0005 +covariance_vy: 0.0005 +covariance_vz: 0.02 + +# Covariance for "multiple" part +covariance_multi_vx: 0.05 +covariance_multi_vy: 0.05 +covariance_multi_vz: 0.05 + +# Dynamic adjustment from : + # True: (ns)/cmd_vel + # False: (ns)/final_pose +using_nav_vel_cb: false + +# Open if STM has integral information +use_stm_integral: false + +# Open Dynamic reconfigure service +using_dynamic_reconf: false \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/odometry/odometry/src/odometry_node.cpp b/docker/testBot/OdomComm/docker/odometry/odometry/src/odometry_node.cpp new file mode 100644 index 0000000..2500ea2 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/odometry/src/odometry_node.cpp @@ -0,0 +1,29 @@ +#include "odometry/odometry.h" + +int main(int argc, char** argv){ + + ros::init(argc, argv, "odometry_node"); + + ros::NodeHandle nh(""); + ros::NodeHandle nh_local("~"); + + try { + + ROS_INFO_STREAM("[Odometry] : Initializing odometry"); + Odometry odometry(nh, nh_local); + ros::spin(); + + } + catch (const char* s) { + + ROS_FATAL_STREAM("[Odometry] : " << s); + + } + catch (...) { + + ROS_FATAL_STREAM("[Odometry] : Unexpected error"); + + } + + return 0; +} diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst new file mode 100644 index 0000000..ee8c98d --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CHANGELOG.rst @@ -0,0 +1,105 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rosserial_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.2 (2021-04-02) +------------------ + +0.9.1 (2020-09-09) +------------------ + +0.9.0 (2020-08-25) +------------------ +* Fix Travis for Noetic + Python 3 +* Bump minimum CMake version to 3.7.2 (Melodic). +* Drop separate node for message service (`#446 `_) +* Contributors: Mike Purvis + +0.8.0 (2018-10-11) +------------------ + +0.7.7 (2017-11-29) +------------------ +* Fix catkin lint errors (`#296 `_) +* Contributors: Bei Chen Liu + +0.7.6 (2017-03-01) +------------------ + +0.7.5 (2016-11-22) +------------------ + +0.7.4 (2016-09-21) +------------------ + +0.7.3 (2016-08-05) +------------------ + +0.7.2 (2016-07-15) +------------------ + +0.7.1 (2015-07-06) +------------------ + +0.7.0 (2015-04-23) +------------------ + +0.6.3 (2014-11-05) +------------------ + +0.6.2 (2014-09-10) +------------------ + +0.6.1 (2014-06-30) +------------------ + +0.6.0 (2014-06-11) +------------------ +* Uncomment ID_TX_STOP constant, per `#111 `_ +* Contributors: Mike Purvis + +0.5.6 (2014-06-11) +------------------ +* Add Mike Purvis as maintainer to all but xbee. +* remove ID_TX_STOP from rosserial_msgs/msg/TopicInfo.msg, using hardcode modification. fix the dupilcated registration problem of subscriber +* modified rosserial +* Contributors: Mike Purvis, Moju Zhao + +0.5.5 (2014-01-14) +------------------ + +0.5.4 (2013-10-17) +------------------ + +0.5.3 (2013-09-21) +------------------ +* Add message info service and stub of node to provide it, for +rosserial_server support. + +0.5.2 (2013-07-17) +------------------ + +* Fix release version + +0.5.1 (2013-07-15) +------------------ + +0.4.5 (2013-07-02) +------------------ + +0.4.4 (2013-03-20) +------------------ + +0.4.3 (2013-03-13 14:08) +------------------------ + +0.4.2 (2013-03-13 01:15) +------------------------ + +0.4.1 (2013-03-09) +------------------ + +0.4.0 (2013-03-08) +------------------ +* Changed DEBUG log level to ROSDEBUG. +* initial catkin version on github diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt new file mode 100644 index 0000000..c525612 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.7.2) +project(rosserial_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation +) + +add_message_files(FILES + Log.msg + TopicInfo.msg +) + +add_service_files(FILES + RequestParam.srv +) + +generate_messages() + +catkin_package(CATKIN_DEPENDS + message_runtime +) diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg new file mode 100644 index 0000000..7239876 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/Log.msg @@ -0,0 +1,10 @@ + +#ROS Logging Levels +uint8 ROSDEBUG=0 +uint8 INFO=1 +uint8 WARN=2 +uint8 ERROR=3 +uint8 FATAL=4 + +uint8 level +string msg diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg new file mode 100644 index 0000000..dafd6b0 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/msg/TopicInfo.msg @@ -0,0 +1,21 @@ +# special topic_ids +uint16 ID_PUBLISHER=0 +uint16 ID_SUBSCRIBER=1 +uint16 ID_SERVICE_SERVER=2 +uint16 ID_SERVICE_CLIENT=4 +uint16 ID_PARAMETER_REQUEST=6 +uint16 ID_LOG=7 +uint16 ID_TIME=10 +uint16 ID_TX_STOP=11 + +# The endpoint ID for this topic +uint16 topic_id + +string topic_name +string message_type + +# MD5 checksum for this message type +string md5sum + +# size of the buffer message must fit in +int32 buffer_size diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/package.xml b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/package.xml new file mode 100644 index 0000000..9f8ac6d --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/package.xml @@ -0,0 +1,18 @@ + + rosserial_msgs + 0.9.2 + + Messages for automatic topic configuration using rosserial. + + Michael Ferguson + Paul Bouchier + Mike Purvis + BSD + http://ros.org/wiki/rosserial_msgs + + catkin + + message_generation + + message_runtime + diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv new file mode 100644 index 0000000..ca605e8 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_msgs/srv/RequestParam.srv @@ -0,0 +1,7 @@ +string name + +--- + +int32[] ints +float32[] floats +string[] strings diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst b/docker/testBot/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst new file mode 100644 index 0000000..e8d8efd --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/CHANGELOG.rst @@ -0,0 +1,130 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rosserial_server +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.2 (2021-04-02) +------------------ +* Add python3-dev as build depend (`#544 `_) +* Contributors: Tobias Fischer + +0.9.1 (2020-09-09) +------------------ +* Add boost::thread dependency to rosserial_server (`#513 `_) +* Contributors: Mike Purvis + +0.9.0 (2020-08-25) +------------------ +* Only initialize embedded python interpreter once. (`#491 `_) +* Port 482 and 483 forward from Melodic branch (`#492 `_) +* Fix warning when using std_msgs/Empty (`#482 `_) +* Bump minimum CMake version to 3.7.2 (Melodic). +* Removed unused service client for message info service (`#481 `_) +* Call io_service.stop() when ros::ok() returns false (`#477 `_) +* Call Py_Finalize before throwing exception (`#476 `_) +* [Windows] use c++ signed trait to replace ssize_t for better portability. (`#463 `_) +* Port rosserial_server to Boost 1.71. (`#468 `_) +* rosserial_server: update install rules for binary targets (`#457 `_) +* Fix bug: assign the md5 for service (`#449 `_) +* Contributors: Hermann von Kleist, Johannes Meyer, Mike Purvis, Sean Yen, 趙　漠居(Zhao, Moju) + +0.8.0 (2018-10-11) +------------------ +* Fix compiling on boost > 1.66 (`#362 `_) + Reflective of changes made to boost::asio noted here: + http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html +* Contributors: Fan Jiang + +0.7.7 (2017-11-29) +------------------ +* Fix catkin lint errors (`#296 `_) +* Contributors: Bei Chen Liu + +0.7.6 (2017-03-01) +------------------ + +0.7.5 (2016-11-22) +------------------ +* Fixing build errors for boost >=1.60 (`#226 `_) (`#250 `_) +* Contributors: Malte Splietker + +0.7.4 (2016-09-21) +------------------ +* Use catkin_EXPORTED_TARGETS to avoid CMake warning (`#246 `_) +* Fix AsyncReadBuffer for UDP socket case. (`#245 `_) +* Contributors: Mike Purvis + +0.7.3 (2016-08-05) +------------------ +* Avoid runaway async condition when port is bad. (`#236 `_) +* Add missing install rule for udp_socket_node +* Make the ~require param configurable from Session. (`#233 `_) +* Contributors: Mike Purvis + +0.7.2 (2016-07-15) +------------------ +* Implementation of native UDP rosserial server. (`#231 `_) +* Explicit session lifecycle for the serial server. (`#228 `_) + This is a long overdue change which will resolve some crashes when + USB serial devices return error states in the face of noise or other + interruptions. +* Support for VER1 protocol has been dropped. +* Handle log messages in rosserial_server +* Contributors: Mike Purvis, mkrauter + +0.7.1 (2015-07-06) +------------------ + +0.7.0 (2015-04-23) +------------------ +* Fill out description field in package.xml. +* Bugfix for checksum. + Publishing topics fails when messages are over 256 bytes in length due to checksum() function or'ing high and low byte instead of adding them. +* rosserial_server: Properly receive messages > 255 bytes. +* Contributors: Chad Attermann, Mike Purvis + +0.6.3 (2014-11-05) +------------------ +* Add more log output, don't end the session for certain write errors. +* Contributors: Mike Purvis + +0.6.2 (2014-09-10) +------------------ +* Bugfix for interrupted sessions. + This is a two-part fix for an issue causes a segfault when the device + disappears during operation, for example a ttyACM device which is unplugged. + The AsyncReadBuffer part avoids calling a callback after the object + owning it has destructed, and the SerialSession part avoids recreating + itself until the previous instance has finished the destructor and been + full destroyed. +* Add dependency on rosserial_msgs_gencpp, fixes `#133 `_ +* Make ServiceClient::handle public, to fix compilation bug on some platforms. +* Enabled registration of service clients +* Add namespaces to headers, swap ROS thread to foreground. +* Move headers to include path, rename to follow ROS style. + +0.6.1 (2014-06-30) +------------------ + +0.6.0 (2014-06-11) +------------------ + +0.5.6 (2014-06-11) +------------------ +* Fixed build error due to variable being read as a function due to missing parenthesis +* Add rosserial_python as dependency of rosserial_server +* Contributors: Mike Purvis, spaghetti- + +0.5.5 (2014-01-14) +------------------ +* Add support for require/publishers and require/subscribers parameters. +* Use stream logging in rosserial_server + +0.5.4 (2013-10-17) +------------------ + +0.5.3 (2013-09-21) +------------------ +* New package: rosserial_server +* Contains example launch file for serial configuration of server +* Working now with both Groovy and Hydro clients. +* Subscriber to correctly declare known md5 and topic type from client. diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt b/docker/testBot/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt new file mode 100644 index 0000000..6e57211 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.7.2) +project(rosserial_server) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rosserial_msgs + std_msgs + topic_tools +) + +find_package(Boost REQUIRED COMPONENTS + system + thread +) + +find_package(PythonLibs REQUIRED) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS + roscpp + rosserial_msgs + std_msgs + topic_tools + LIBRARIES ${PROJECT_NAME}_lookup +) + +include_directories( + include + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME}_lookup src/msg_lookup.cpp) +target_link_libraries(${PROJECT_NAME}_lookup ${PYTHON_LIBRARY}) +target_include_directories(${PROJECT_NAME}_lookup SYSTEM PRIVATE ${PYTHON_INCLUDE_DIR}) + +add_executable(${PROJECT_NAME}_serial_node src/serial_node.cpp) +target_link_libraries(${PROJECT_NAME}_serial_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_serial_node PROPERTIES OUTPUT_NAME serial_node PREFIX "") +add_dependencies(${PROJECT_NAME}_serial_node ${catkin_EXPORTED_TARGETS}) + +add_executable(${PROJECT_NAME}_socket_node src/socket_node.cpp) +target_link_libraries(${PROJECT_NAME}_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_socket_node PROPERTIES OUTPUT_NAME socket_node PREFIX "") +add_dependencies(${PROJECT_NAME}_socket_node ${catkin_EXPORTED_TARGETS}) + +add_executable(${PROJECT_NAME}_udp_socket_node src/udp_socket_node.cpp) +target_link_libraries(${PROJECT_NAME}_udp_socket_node ${catkin_LIBRARIES} ${PROJECT_NAME}_lookup) +set_target_properties(${PROJECT_NAME}_udp_socket_node PROPERTIES OUTPUT_NAME udp_socket_node PREFIX "") +add_dependencies(${PROJECT_NAME}_udp_socket_node ${catkin_EXPORTED_TARGETS}) + +install( + TARGETS + ${PROJECT_NAME}_lookup + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + TARGETS + ${PROJECT_NAME}_serial_node + ${PROJECT_NAME}_socket_node + ${PROJECT_NAME}_udp_socket_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h new file mode 100644 index 0000000..586fcae --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/async_read_buffer.h @@ -0,0 +1,204 @@ +/** + * + * \file + * \brief Helper object for successive reads from a ReadStream. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H +#define ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H + +#include +#include +#include + +#include + +// ssize_t is POSIX-only type. Use make_signed for portable code. +#include // size_t +#include // std::make_signed +typedef std::make_signed::type signed_size_t; + +namespace rosserial_server +{ + +template +class AsyncReadBuffer +{ +public: + AsyncReadBuffer(AsyncReadStream& s, size_t capacity, + boost::function error_callback) + : stream_(s), read_requested_bytes_(0), error_callback_(error_callback) { + reset(); + mem_.resize(capacity); + ROS_ASSERT_MSG(error_callback_, "Bad error callback passed to read buffer."); + } + + /** + * @brief Commands a fixed number of bytes from the buffer. This may be fulfilled from existing + * buffer content, or following a hardware read if required. + */ + void read(size_t requested_bytes, boost::function callback) { + ROS_DEBUG_STREAM_NAMED("async_read", "Buffer read of " << requested_bytes << " bytes, " << + "wi: " << write_index_ << ", ri: " << read_index_); + + ROS_ASSERT_MSG(read_requested_bytes_ == 0, "Bytes requested is nonzero, is there an operation already pending?"); + ROS_ASSERT_MSG(callback, "Bad read success callback function."); + read_success_callback_ = callback; + read_requested_bytes_ = requested_bytes; + + if (read_requested_bytes_ > mem_.size()) + { + // Insufficient room in the buffer for the requested bytes, + ROS_ERROR_STREAM_NAMED("async_read", "Requested to read " << read_requested_bytes_ << + " bytes, but buffer capacity is only " << mem_.size() << "."); + error_callback_(boost::system::errc::make_error_code(boost::system::errc::no_buffer_space)); + return; + } + + // Number of bytes which must be transferred to satisfy the request. + signed_size_t transfer_bytes = read_requested_bytes_ - bytesAvailable(); + + if (transfer_bytes > 0) + { + // If we don't have enough headroom in the buffer, we'll have to shift what's currently in there to make room. + if (bytesHeadroom() < transfer_bytes) + { + memmove(&mem_[0], &mem_[read_index_], bytesAvailable()); + write_index_ = bytesAvailable(); + read_index_ = 0; + } + + // Initiate a read from hardware so that we have enough bytes to fill the user request. + ROS_DEBUG_STREAM_NAMED("async_read", "Requesting transfer of at least " << transfer_bytes << " byte(s)."); + boost::asio::async_read(stream_, + boost::asio::buffer(&mem_[write_index_], bytesHeadroom()), + boost::asio::transfer_at_least(transfer_bytes), + boost::bind(&AsyncReadBuffer::callback, this, + boost::asio::placeholders::error, + boost::asio::placeholders::bytes_transferred)); + } + else + { + // We have enough in the buffer already, can fill the request without going to hardware. + callSuccessCallback(); + } + } + +private: + void reset() + { + read_index_ = 0; + write_index_ = 0; + } + + inline size_t bytesAvailable() + { + return write_index_ - read_index_; + } + + inline size_t bytesHeadroom() + { + return mem_.size() - write_index_; + } + + /** + * @brief The internal callback which is called by the boost::asio::async_read invocation + * in the public read method above. + */ + void callback(const boost::system::error_code& error, size_t bytes_transferred) + { + if (error) + { + read_requested_bytes_ = 0; + read_success_callback_.clear(); + ROS_DEBUG_STREAM_NAMED("async_read", "Read operation failed with: " << error); + + if (error == boost::asio::error::operation_aborted) + { + // Special case for operation_aborted. The abort callback comes when the owning Session + // is in the middle of teardown, which means the callback is no longer valid. + } + else + { + error_callback_(error); + } + return; + } + + write_index_ += bytes_transferred; + ROS_DEBUG_STREAM_NAMED("async_read", "Successfully read " << bytes_transferred << " byte(s), now " << bytesAvailable() << " available."); + callSuccessCallback(); + } + + /** + * @brief Calls the user's callback. This is a separate function because it gets called from two + * places, depending whether or not an actual HW read is required to fill the request. + */ + void callSuccessCallback() + { + ROS_DEBUG_STREAM_NAMED("async_read", "Invoking success callback with buffer of requested size " << + read_requested_bytes_ << " byte(s)."); + + ros::serialization::IStream stream(&mem_[read_index_], read_requested_bytes_); + read_index_ += read_requested_bytes_; + + // Post the callback rather than executing it here so, so that we have a chance to do the cleanup + // below prior to it actually getting run, in the event that the callback queues up another read. +#if BOOST_VERSION >= 107000 + boost::asio::post(stream_.get_executor(), boost::bind(read_success_callback_, stream)); +#else + stream_.get_io_service().post(boost::bind(read_success_callback_, stream)); +#endif + + // Resetting these values clears our state so that we know there isn't a callback pending. + read_requested_bytes_ = 0; + read_success_callback_.clear(); + + if (bytesAvailable() == 0) + { + ROS_DEBUG_STREAM_NAMED("async_read", "Buffer is empty, resetting indexes to the beginning."); + reset(); + } + } + + AsyncReadStream& stream_; + std::vector mem_; + + size_t write_index_; + size_t read_index_; + boost::function error_callback_; + + boost::function read_success_callback_; + size_t read_requested_bytes_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_ASYNC_READ_BUFFER_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h new file mode 100644 index 0000000..28e60b9 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/msg_lookup.h @@ -0,0 +1,44 @@ +/** + * \author Mike Purvis + * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + */ + +#include +#include + +namespace rosserial_server +{ + +struct MsgInfo +{ + std::string md5sum; + std::string full_text; +}; + +const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule = "msg"); + +} // namespace rosserial_server diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h new file mode 100644 index 0000000..2a0bc15 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/serial_session.h @@ -0,0 +1,118 @@ +/** + * + * \file + * \brief Single, reconnecting class for a serial rosserial session. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_SERIAL_SESSION_H +#define ROSSERIAL_SERVER_SERIAL_SESSION_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + +namespace rosserial_server +{ + +class SerialSession : public Session +{ +public: + SerialSession(boost::asio::io_service& io_service, std::string port, int baud) + : Session(io_service), port_(port), baud_(baud), timer_(io_service) + { + ROS_INFO_STREAM("rosserial_server session configured for " << port_ << " at " << baud << "bps."); + + failed_connection_attempts_ = 0; + check_connection(); + } + +private: + void check_connection() + { + if (!is_active()) + { + attempt_connection(); + } + + // Every second, check again if the connection should be reinitialized, + // if the ROS node is still up. + if (ros::ok()) + { + timer_.expires_from_now(boost::posix_time::milliseconds(2000)); + timer_.async_wait(boost::bind(&SerialSession::check_connection, this)); + } + else + { + shutdown(); + } + } + + void attempt_connection() + { + ROS_DEBUG("Opening serial port."); + + boost::system::error_code ec; + socket().open(port_, ec); + if (ec) { + failed_connection_attempts_++; + if (failed_connection_attempts_ == 1) { + ROS_ERROR_STREAM("Unable to open port " << port_ << ": " << ec); + } else { + ROS_DEBUG_STREAM("Unable to open port " << port_ << " (" << failed_connection_attempts_ << "): " << ec); + } + return; + } + ROS_INFO_STREAM("Opened " << port_); + failed_connection_attempts_ = 0; + + typedef boost::asio::serial_port_base serial; + socket().set_option(serial::baud_rate(baud_)); + socket().set_option(serial::character_size(8)); + socket().set_option(serial::stop_bits(serial::stop_bits::one)); + socket().set_option(serial::parity(serial::parity::none)); + socket().set_option(serial::flow_control(serial::flow_control::none)); + + // Kick off the session. + start(); + } + + std::string port_; + int baud_; + boost::asio::deadline_timer timer_; + int failed_connection_attempts_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_SERIAL_SESSION_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h new file mode 100644 index 0000000..e7f8ab7 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/session.h @@ -0,0 +1,625 @@ +/** + * + * \file + * \brief Class representing a session between this node and a + * templated rosserial client. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_SESSION_H +#define ROSSERIAL_SERVER_SESSION_H + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include "rosserial_server/async_read_buffer.h" +#include "rosserial_server/topic_handlers.h" + +namespace rosserial_server +{ + + typedef std::vector Buffer; + typedef boost::shared_ptr BufferPtr; + + template + class Session : boost::noncopyable + { + public: + Session(boost::asio::io_service &io_service) + : io_service_(io_service), + socket_(io_service), + sync_timer_(io_service), + require_check_timer_(io_service), + ros_spin_timer_(io_service), + async_read_buffer_(socket_, buffer_max, + boost::bind(&Session::read_failed, this, + boost::asio::placeholders::error)) + { + active_ = false; + + timeout_interval_ = boost::posix_time::milliseconds(5000); + attempt_interval_ = boost::posix_time::milliseconds(1000); + require_check_interval_ = boost::posix_time::milliseconds(1000); + ros_spin_interval_ = boost::posix_time::milliseconds(10); + require_param_name_ = "~require"; + + unrecognised_topic_retry_threshold_ = ros::param::param("~unrecognised_topic_retry_threshold", 0); + + nh_.setCallbackQueue(&ros_callback_queue_); + + // Intermittent callback to service ROS callbacks. To avoid polling like this, + // CallbackQueue could in the future be extended with a scheme to monitor for + // callbacks on another thread, and then queue them up to be executed on this one. + ros_spin_timer_.expires_from_now(ros_spin_interval_); + ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, + boost::asio::placeholders::error)); + } + + Socket &socket() + { + return socket_; + } + + void start() + { + ROS_DEBUG("Starting session."); + + callbacks_[rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_publisher, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_subscriber, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER] = boost::bind(&Session::setup_service_client_publisher, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER] = boost::bind(&Session::setup_service_client_subscriber, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_LOG] = boost::bind(&Session::handle_log, this, _1); + callbacks_[rosserial_msgs::TopicInfo::ID_TIME] = boost::bind(&Session::handle_time, this, _1); + + active_ = true; + attempt_sync(); + read_sync_header(); + } + + void stop() + { + std::cout << "Sending Tx Stop Request..." << std::endl; + uint8_t overhead_bytes = 8; + uint16_t length = overhead_bytes; + BufferPtr buffer_ptr(new Buffer(length)); + ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); + stream << (uint16_t)0xfeff << (uint16_t)0x0000 << (uint16_t)0x0bff << (uint16_t)0xf400; + boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), + boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); + std::cout << "Stop..." << std::endl; + + // Abort any pending ROS callbacks. + ros_callback_queue_.clear(); + + // Abort active session timer callbacks, if present. + sync_timer_.cancel(); + require_check_timer_.cancel(); + + // Reset the state of the session, dropping any publishers or subscribers + // we currently know about from this client. + callbacks_.clear(); + subscribers_.clear(); + publishers_.clear(); + services_.clear(); + + // Close the socket. + socket_.close(); + active_ = false; + } + + void shutdown() + { + if (is_active()) + { + stop(); + } + io_service_.stop(); + } + + bool is_active() + { + return active_; + } + + /** + * This is to set the name of the required topics parameter from the + * default of ~require. You might want to do this to avoid a conflict + * with something else in that namespace, or because you're embedding + * multiple instances of rosserial_server in a single process. + */ + void set_require_param(std::string param_name) + { + require_param_name_ = param_name; + } + + private: + /** + * Periodic function which handles calling ROS callbacks, executed on the same + * io_service thread to avoid a concurrency nightmare. + */ + void ros_spin_timeout(const boost::system::error_code &error) + { + ros_callback_queue_.callAvailable(); + + if (ros::ok()) + { + // Call again next interval. + ros_spin_timer_.expires_from_now(ros_spin_interval_); + ros_spin_timer_.async_wait(boost::bind(&Session::ros_spin_timeout, this, + boost::asio::placeholders::error)); + } + else + { + shutdown(); + } + } + + //// RECEIVING MESSAGES //// + // TODO: Total message timeout, implement primarily in ReadBuffer. + + void read_sync_header() + { + async_read_buffer_.read(1, boost::bind(&Session::read_sync_first, this, _1)); + } + + void read_sync_first(ros::serialization::IStream &stream) + { + uint8_t sync; + stream >> sync; + if (sync == 0xff) + { + async_read_buffer_.read(1, boost::bind(&Session::read_sync_second, this, _1)); + } + else + { + read_sync_header(); + } + } + + void read_sync_second(ros::serialization::IStream &stream) + { + uint8_t sync; + stream >> sync; + if (sync == 0xfe) + { + async_read_buffer_.read(5, boost::bind(&Session::read_id_length, this, _1)); + } + else + { + read_sync_header(); + } + } + + void read_id_length(ros::serialization::IStream &stream) + { + uint16_t topic_id, length; + uint8_t length_checksum; + + // Check header checksum byte for length field. + stream >> length >> length_checksum; + if (length_checksum + checksum(length) != 0xff) + { + uint8_t csl = checksum(length); + ROS_WARN("Bad message header length checksum. Dropping message from client. T%d L%d C%d %d", topic_id, length, length_checksum, csl); + read_sync_header(); + return; + } + else + { + stream >> topic_id; + } + ROS_DEBUG("Received message header with length %d and topic_id=%d", length, topic_id); + + // Read message length + checksum byte. + async_read_buffer_.read(length + 1, boost::bind(&Session::read_body, this, + _1, topic_id)); + } + + void read_body(ros::serialization::IStream &stream, uint16_t topic_id) + { + ROS_DEBUG("Received body of length %d for message on topic %d.", stream.getLength(), topic_id); + + ros::serialization::IStream checksum_stream(stream.getData(), stream.getLength()); + uint8_t msg_checksum = checksum(checksum_stream) + checksum(topic_id); + + if (msg_checksum != 0xff) + { + ROS_WARN("Rejecting message on topicId=%d, length=%d with bad checksum.", topic_id, stream.getLength()); + } + else + { + if (callbacks_.count(topic_id) == 1) + { + try + { + // stream includes the check sum byte. + ros::serialization::IStream msg_stream(stream.getData(), stream.getLength() - 1); + callbacks_[topic_id](msg_stream); + } + catch (ros::serialization::StreamOverrunException e) + { + if (topic_id < 100) + { + ROS_ERROR("Buffer overrun when attempting to parse setup message."); + ROS_ERROR_ONCE("Is this firmware from a pre-Groovy rosserial?"); + } + else + { + ROS_WARN("Buffer overrun when attempting to parse user message."); + } + } + } + else + { + ROS_WARN("Received message with unrecognized topicId (%d).", topic_id); + + if ((unrecognised_topic_retry_threshold_ > 0) && ++unrecognised_topics_ >= unrecognised_topic_retry_threshold_) + { + // The threshold for unrecognised topics has been exceeded. + // Attempt to request the topics from the client again + ROS_WARN("Unrecognised topic threshold exceeded. Requesting topics from client"); + attempt_sync(); + unrecognised_topics_ = 0; + } + } + } + + // Kickoff next message read. + read_sync_header(); + } + + void read_failed(const boost::system::error_code &error) + { + if (error == boost::system::errc::no_buffer_space) + { + // No worries. Begin syncing on a new message. + ROS_WARN("Overrun on receive buffer. Attempting to regain rx sync."); + read_sync_header(); + } + else if (error) + { + // When some other read error has occurred, stop the session, which destroys + // all known publishers and subscribers. + ROS_WARN_STREAM("Socket asio error, closing socket: " << error); + stop(); + } + } + + //// SENDING MESSAGES //// + + void write_message(Buffer &message, const uint16_t topic_id) + { + uint8_t overhead_bytes = 8; + uint16_t length = overhead_bytes + message.size(); + BufferPtr buffer_ptr(new Buffer(length)); + + uint8_t msg_checksum; + ros::serialization::IStream checksum_stream(message.size() > 0 ? &message[0] : NULL, message.size()); + + ros::serialization::OStream stream(&buffer_ptr->at(0), buffer_ptr->size()); + uint8_t msg_len_checksum = 255 - checksum(message.size()); + stream << (uint16_t)0xfeff << (uint16_t)message.size() << msg_len_checksum << topic_id; + msg_checksum = 255 - (checksum(checksum_stream) + checksum(topic_id)); + + memcpy(stream.advance(message.size()), &message[0], message.size()); + stream << msg_checksum; + + ROS_DEBUG_NAMED("async_write", "Sending buffer of %d bytes to client.", length); + boost::asio::async_write(socket_, boost::asio::buffer(*buffer_ptr), + boost::bind(&Session::write_completion_cb, this, boost::asio::placeholders::error, buffer_ptr)); + } + + void write_completion_cb(const boost::system::error_code &error, + BufferPtr buffer_ptr) + { + if (error) + { + if (error == boost::system::errc::io_error) + { + ROS_WARN_THROTTLE(1, "Socket write operation returned IO error."); + } + else if (error == boost::system::errc::no_such_device) + { + ROS_WARN_THROTTLE(1, "Socket write operation returned no device."); + } + else + { + ROS_WARN_STREAM_THROTTLE(1, "Unknown error returned during write operation: " << error); + } + stop(); + } + // Buffer is destructed when this function exits and buffer_ptr goes out of scope. + } + + //// SYNC WATCHDOG //// + void attempt_sync() + { + request_topics(); + set_sync_timeout(attempt_interval_); + } + + void set_sync_timeout(const boost::posix_time::time_duration &interval) + { + if (ros::ok()) + { + sync_timer_.cancel(); + sync_timer_.expires_from_now(interval); + sync_timer_.async_wait(boost::bind(&Session::sync_timeout, this, + boost::asio::placeholders::error)); + } + else + { + shutdown(); + } + } + + void sync_timeout(const boost::system::error_code &error) + { + if (error != boost::asio::error::operation_aborted) + { + ROS_DEBUG("Sync with device lost."); + stop(); + } + } + + //// HELPERS //// + void request_topics() + { + std::vector message(0); + ROS_DEBUG("Sending request topics message for VER2 protocol."); + write_message(message, rosserial_msgs::TopicInfo::ID_PUBLISHER); + + // Set timer for future point at which to verify the subscribers and publishers + // created by the client against the expected set given in the parameters. + require_check_timer_.expires_from_now(require_check_interval_); + require_check_timer_.async_wait(boost::bind(&Session::required_topics_check, this, + boost::asio::placeholders::error)); + } + + void required_topics_check(const boost::system::error_code &error) + { + if (error != boost::asio::error::operation_aborted) + { + if (ros::param::has(require_param_name_)) + { + if (!check_set(require_param_name_ + "/publishers", publishers_) || + !check_set(require_param_name_ + "/subscribers", subscribers_)) + { + ROS_WARN("Connected client failed to establish the publishers and subscribers dictated by require parameter. Re-requesting topics."); + request_topics(); + } + } + } + } + + template + bool check_set(std::string param_name, M map) + { + XmlRpc::XmlRpcValue param_list; + ros::param::get(param_name, param_list); + ROS_ASSERT(param_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + for (int i = 0; i < param_list.size(); ++i) + { + ROS_ASSERT(param_list[i].getType() == XmlRpc::XmlRpcValue::TypeString); + std::string required_topic((std::string(param_list[i]))); + // Iterate through map of registered topics, to ensure that this one is present. + bool found = false; + for (typename M::iterator j = map.begin(); j != map.end(); ++j) + { + if (nh_.resolveName(j->second->get_topic()) == + nh_.resolveName(required_topic)) + { + found = true; + ROS_INFO_STREAM("Verified connection to topic " << required_topic << ", given in parameter " << param_name); + break; + } + } + if (!found) + { + ROS_WARN_STREAM("Missing connection to topic " << required_topic << ", required by parameter " << param_name); + return false; + } + } + return true; + } + + static uint8_t checksum(ros::serialization::IStream &stream) + { + uint8_t sum = 0; + for (uint16_t i = 0; i < stream.getLength(); ++i) + { + sum += stream.getData()[i]; + } + return sum; + } + + static uint8_t checksum(uint16_t val) + { + return (val >> 8) + val; + } + + //// RECEIVED MESSAGE HANDLERS //// + + void setup_publisher(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + PublisherPtr pub(new Publisher(nh_, topic_info)); + callbacks_[topic_info.topic_id] = boost::bind(&Publisher::handle, pub, _1); + publishers_[topic_info.topic_id] = pub; + + set_sync_timeout(timeout_interval_); + } + + void setup_subscriber(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + SubscriberPtr sub(new Subscriber(nh_, topic_info, + boost::bind(&Session::write_message, this, _1, topic_info.topic_id))); + subscribers_[topic_info.topic_id] = sub; + + set_sync_timeout(timeout_interval_); + } + + // When the rosserial client creates a ServiceClient object (and/or when it registers that object with the NodeHandle) + // it creates a publisher (to publish the service request message to us) and a subscriber (to receive the response) + // the service client callback is attached to the *subscriber*, so when we receive the service response + // and wish to send it over the socket to the client, + // we must attach the topicId that came from the service client subscriber message + + void setup_service_client_publisher(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + if (!services_.count(topic_info.topic_name)) + { + ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); + ServiceClientPtr srv(new ServiceClient( + nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); + services_[topic_info.topic_name] = srv; + callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); + } + if (services_[topic_info.topic_name]->getRequestMessageMD5() != topic_info.md5sum) + { + ROS_WARN("Service client setup: Request message MD5 mismatch between rosserial client and ROS"); + } + else + { + ROS_DEBUG("Service client %s: request message MD5 successfully validated as %s", + topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); + } + set_sync_timeout(timeout_interval_); + } + + void setup_service_client_subscriber(ros::serialization::IStream &stream) + { + rosserial_msgs::TopicInfo topic_info; + ros::serialization::Serializer::read(stream, topic_info); + + if (!services_.count(topic_info.topic_name)) + { + ROS_DEBUG("Creating service client for topic %s", topic_info.topic_name.c_str()); + ServiceClientPtr srv(new ServiceClient( + nh_, topic_info, boost::bind(&Session::write_message, this, _1, _2))); + services_[topic_info.topic_name] = srv; + callbacks_[topic_info.topic_id] = boost::bind(&ServiceClient::handle, srv, _1); + } + // see above comment regarding the service client callback for why we set topic_id here + services_[topic_info.topic_name]->setTopicId(topic_info.topic_id); + if (services_[topic_info.topic_name]->getResponseMessageMD5() != topic_info.md5sum) + { + ROS_WARN("Service client setup: Response message MD5 mismatch between rosserial client and ROS"); + } + else + { + ROS_DEBUG("Service client %s: response message MD5 successfully validated as %s", + topic_info.topic_name.c_str(), topic_info.md5sum.c_str()); + } + set_sync_timeout(timeout_interval_); + } + + void handle_log(ros::serialization::IStream &stream) + { + rosserial_msgs::Log l; + ros::serialization::Serializer::read(stream, l); + if (l.level == rosserial_msgs::Log::ROSDEBUG) + ROS_DEBUG("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::INFO) + ROS_INFO("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::WARN) + ROS_WARN("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::ERROR) + ROS_ERROR("%s", l.msg.c_str()); + else if (l.level == rosserial_msgs::Log::FATAL) + ROS_FATAL("%s", l.msg.c_str()); + } + + void handle_time(ros::serialization::IStream &stream) + { + std_msgs::Time time; + time.data = ros::Time::now(); + + size_t length = ros::serialization::serializationLength(time); + std::vector message(length); + + ros::serialization::OStream ostream(&message[0], length); + ros::serialization::Serializer::write(ostream, time); + + write_message(message, rosserial_msgs::TopicInfo::ID_TIME); + + // The MCU requesting the time from the server is the sync notification. This + // call moves the timeout forward. + set_sync_timeout(timeout_interval_); + } + + boost::asio::io_service &io_service_; + Socket socket_; + AsyncReadBuffer async_read_buffer_; + enum + { + buffer_max = 1023 + }; + bool active_; + + ros::NodeHandle nh_; + ros::CallbackQueue ros_callback_queue_; + + boost::posix_time::time_duration timeout_interval_; + boost::posix_time::time_duration attempt_interval_; + boost::posix_time::time_duration require_check_interval_; + boost::posix_time::time_duration ros_spin_interval_; + boost::asio::deadline_timer sync_timer_; + boost::asio::deadline_timer require_check_timer_; + boost::asio::deadline_timer ros_spin_timer_; + std::string require_param_name_; + int unrecognised_topic_retry_threshold_{0}; + int unrecognised_topics_{0}; + + std::map> callbacks_; + std::map publishers_; + std::map subscribers_; + std::map services_; + }; + +} // namespace + +#endif // ROSSERIAL_SERVER_SESSION_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h new file mode 100644 index 0000000..1dff9c5 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/tcp_server.h @@ -0,0 +1,92 @@ +/** + * + * \file + * \brief TCP server for rosserial + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_TCP_SERVER_H +#define ROSSERIAL_SERVER_TCP_SERVER_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::tcp; + +template< typename Session = rosserial_server::Session > +class TcpServer +{ +public: + TcpServer(boost::asio::io_service& io_service, short port) + : io_service_(io_service), + acceptor_(io_service, tcp::endpoint(tcp::v4(), port)) + { + start_accept(); + } + +private: + void start_accept() + { + Session* new_session = new Session(io_service_); + acceptor_.async_accept(new_session->socket(), + boost::bind(&TcpServer::handle_accept, this, new_session, + boost::asio::placeholders::error)); + } + + void handle_accept(Session* new_session, + const boost::system::error_code& error) + { + if (!error) + { + new_session->start(); + } + else + { + delete new_session; + } + + start_accept(); + } + + boost::asio::io_service& io_service_; + tcp::acceptor acceptor_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_TCP_SERVER_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h new file mode 100644 index 0000000..737adb5 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/topic_handlers.h @@ -0,0 +1,195 @@ +/** + * + * \file + * \brief Classes which manage the Publish and Subscribe relationships + * that a Session has with its client. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_TOPIC_HANDLERS_H +#define ROSSERIAL_SERVER_TOPIC_HANDLERS_H + +#include +#include +#include +#include + +namespace rosserial_server +{ + +class Publisher { +public: + Publisher(ros::NodeHandle& nh, const rosserial_msgs::TopicInfo& topic_info) { + rosserial_server::MsgInfo msginfo; + try + { + msginfo = lookupMessage(topic_info.message_type); + } + catch (const std::exception& e) + { + ROS_WARN_STREAM("Unable to look up message: " << e.what()); + } + + if (!msginfo.md5sum.empty() && msginfo.md5sum != topic_info.md5sum) + { + ROS_WARN_STREAM("Message" << topic_info.message_type << "MD5 sum from client does not " + "match that in system. Will avoid using system's message definition."); + msginfo.full_text = ""; + } + message_.morph(topic_info.md5sum, topic_info.message_type, msginfo.full_text, "false"); + publisher_ = message_.advertise(nh, topic_info.topic_name, 1); + } + + void handle(ros::serialization::IStream stream) { + ros::serialization::Serializer::read(stream, message_); + publisher_.publish(message_); + } + + std::string get_topic() { + return publisher_.getTopic(); + } + +private: + ros::Publisher publisher_; + topic_tools::ShapeShifter message_; +}; + +typedef boost::shared_ptr PublisherPtr; + + +class Subscriber { +public: + Subscriber(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, + boost::function& buffer)> write_fn) + : write_fn_(write_fn) { + ros::SubscribeOptions opts; + opts.init( + topic_info.topic_name, 1, boost::bind(&Subscriber::handle, this, _1)); + opts.md5sum = topic_info.md5sum; + opts.datatype = topic_info.message_type; + subscriber_ = nh.subscribe(opts); + } + + std::string get_topic() { + return subscriber_.getTopic(); + } + +private: + void handle(const boost::shared_ptr& msg) { + size_t length = ros::serialization::serializationLength(*msg); + std::vector buffer(length); + + ros::serialization::OStream ostream(&buffer[0], length); + ros::serialization::Serializer::write(ostream, *msg); + + write_fn_(buffer); + } + + ros::Subscriber subscriber_; + boost::function& buffer)> write_fn_; +}; + +typedef boost::shared_ptr SubscriberPtr; + +class ServiceClient { +public: + ServiceClient(ros::NodeHandle& nh, rosserial_msgs::TopicInfo& topic_info, + boost::function& buffer, const uint16_t topic_id)> write_fn) + : write_fn_(write_fn) { + topic_id_ = -1; + + rosserial_server::MsgInfo srvinfo; + rosserial_server::MsgInfo reqinfo; + rosserial_server::MsgInfo respinfo; + try + { + srvinfo = lookupMessage(topic_info.message_type, "srv"); + reqinfo = lookupMessage(topic_info.message_type + "Request", "srv"); + respinfo = lookupMessage(topic_info.message_type + "Response", "srv"); + } + catch (const std::exception& e) + { + ROS_WARN_STREAM("Unable to look up service definition: " << e.what()); + } + service_md5_ = srvinfo.md5sum; + request_message_md5_ = reqinfo.md5sum; + response_message_md5_ = respinfo.md5sum; + + ros::ServiceClientOptions opts; + opts.service = topic_info.topic_name; + opts.md5sum = srvinfo.md5sum; + opts.persistent = false; // always false for now + service_client_ = nh.serviceClient(opts); + } + void setTopicId(uint16_t topic_id) { + topic_id_ = topic_id; + } + std::string getServiceMD5() { + return service_md5_; + } + std::string getRequestMessageMD5() { + return request_message_md5_; + } + std::string getResponseMessageMD5() { + return response_message_md5_; + } + + void handle(ros::serialization::IStream stream) { + // deserialize request message + ros::serialization::Serializer::read(stream, request_message_); + + // perform service call + // note that at present, at least for rosserial-windows a service call returns nothing, + // so we discard the return value of this call() invocation. + service_client_.call(request_message_, response_message_, service_md5_); + + // write service response over the wire + size_t length = ros::serialization::serializationLength(response_message_); + std::vector buffer(length); + ros::serialization::OStream ostream(&buffer[0], length); + ros::serialization::Serializer::write(ostream, response_message_); + write_fn_(buffer,topic_id_); + } + +private: + topic_tools::ShapeShifter request_message_; + topic_tools::ShapeShifter response_message_; + ros::ServiceClient service_client_; + boost::function& buffer, const uint16_t topic_id)> write_fn_; + std::string service_md5_; + std::string request_message_md5_; + std::string response_message_md5_; + uint16_t topic_id_; +}; + +typedef boost::shared_ptr ServiceClientPtr; + +} // namespace + +#endif // ROSSERIAL_SERVER_TOPIC_HANDLERS_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h new file mode 100644 index 0000000..6e38dae --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_socket_session.h @@ -0,0 +1,94 @@ +/** + * + * \file + * \brief Reconnecting class for a UDP rosserial session. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H +#define ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" +#include "rosserial_server/udp_stream.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::udp; + +class UdpSocketSession : public Session +{ +public: + UdpSocketSession(boost::asio::io_service& io_service, + udp::endpoint server_endpoint, + udp::endpoint client_endpoint) + : Session(io_service), timer_(io_service), + server_endpoint_(server_endpoint), client_endpoint_(client_endpoint) + { + ROS_INFO_STREAM("rosserial_server UDP session created between " << server_endpoint << " and " << client_endpoint); + check_connection(); + } + +private: + void check_connection() + { + if (!is_active()) + { + socket().open(server_endpoint_, client_endpoint_); + start(); + } + + // Every second, check again if the connection should be reinitialized, + // if the ROS node is still up. + if (ros::ok()) + { + timer_.expires_from_now(boost::posix_time::milliseconds(2000)); + timer_.async_wait(boost::bind(&UdpSocketSession::check_connection, this)); + } + else + { + shutdown(); + } + } + + boost::asio::deadline_timer timer_; + udp::endpoint server_endpoint_; + udp::endpoint client_endpoint_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h new file mode 100644 index 0000000..30034cb --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/include/rosserial_server/udp_stream.h @@ -0,0 +1,133 @@ +/** + * + * \file + * \brief Adapter which allows a single-ended UDP connection to + * present the stream interface. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#ifndef ROSSERIAL_SERVER_UDP_STREAM_H +#define ROSSERIAL_SERVER_UDP_STREAM_H + +#include +#include +#include + +#include + +#include "rosserial_server/session.h" + + +namespace rosserial_server +{ + +using boost::asio::ip::udp; +#if BOOST_VERSION < 107000 +using boost::asio::handler_type; +#endif + + +class UdpStream : public udp::socket +{ +public: + explicit UdpStream(boost::asio::io_service& io_service) : udp::socket(io_service) + { + } + + void open(udp::endpoint server_endpoint, udp::endpoint client_endpoint) + { + boost::system::error_code ec; + const protocol_type protocol = server_endpoint.protocol(); + + udp::socket::open(protocol, ec); + boost::asio::detail::throw_error(ec, "open"); + + udp::socket::bind(server_endpoint, ec); + boost::asio::detail::throw_error(ec, "bind"); + + client_endpoint_ = client_endpoint; + } + + template + BOOST_ASIO_INITFN_RESULT_TYPE(WriteHandler, + void (boost::system::error_code, std::size_t)) + async_write_some(const ConstBufferSequence& buffers, + BOOST_ASIO_MOVE_ARG(WriteHandler) handler) + { + // If you get an error on the following line it means that your handler does + // not meet the documented type requirements for a WriteHandler. + BOOST_ASIO_WRITE_HANDLER_CHECK(WriteHandler, handler) type_check; +#if (BOOST_VERSION >= 106600) + // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html + boost::asio::async_completion init(handler); + + udp::socket::async_send_to( + buffers, client_endpoint_, 0, init.completion_handler); + + return init.result.get(); +#else + return this->get_service().async_send_to( + this->get_implementation(), buffers, client_endpoint_, 0, + BOOST_ASIO_MOVE_CAST(WriteHandler)(handler)); +#endif + } + + template + BOOST_ASIO_INITFN_RESULT_TYPE(ReadHandler, + void (boost::system::error_code, std::size_t)) + async_read_some(const MutableBufferSequence& buffers, + BOOST_ASIO_MOVE_ARG(ReadHandler) handler) + { + // If you get an error on the following line it means that your handler does + // not meet the documented type requirements for a ReadHandler. + BOOST_ASIO_READ_HANDLER_CHECK(ReadHandler, handler) type_check; +#if (BOOST_VERSION >= 106600) + // See: http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html + boost::asio::async_completion init(handler); + + udp::socket::async_receive( + buffers, 0, init.completion_handler); + + return init.result.get(); +#else + return this->get_service().async_receive_from( + this->get_implementation(), buffers, client_endpoint_, 0, + BOOST_ASIO_MOVE_CAST(ReadHandler)(handler)); +#endif + } + +private: + udp::endpoint client_endpoint_; +}; + +} // namespace + +#endif // ROSSERIAL_SERVER_UDP_STREAM_H diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/serial.launch b/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/serial.launch new file mode 100644 index 0000000..8928429 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/serial.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/socket.launch b/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/socket.launch new file mode 100644 index 0000000..cde949c --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/socket.launch @@ -0,0 +1,3 @@ + + + diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch b/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch new file mode 100644 index 0000000..9b79aed --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/launch/udp_socket.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/package.xml b/docker/testBot/OdomComm/docker/odometry/rosserial_server/package.xml new file mode 100644 index 0000000..df73c39 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/package.xml @@ -0,0 +1,23 @@ + + + rosserial_server + 0.9.2 + + A more performance- and stability-oriented server alternative implemented + in C++ to rosserial_python. + + + Mike Purvis + Mike Purvis + + BSD + + catkin + rosserial_msgs + std_msgs + roscpp + topic_tools + python3-dev + libboost-thread-dev + libboost-thread + diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp new file mode 100644 index 0000000..b2c0e23 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/msg_lookup.cpp @@ -0,0 +1,102 @@ +/** + * \author Mike Purvis + * \copyright Copyright (c) 2019, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + */ + +#include "rosserial_server/msg_lookup.h" +#include "Python.h" + +namespace rosserial_server +{ + +const MsgInfo lookupMessage(const std::string& message_type, const std::string submodule) +{ + // Lazy-initialize the embedded Python interpreter. Avoid calling the corresponding + // finalize method due to issues with importing cyaml in the second instance. The + // total memory cost of having this in-process is only about 5-6MB. + Py_Initialize(); + + MsgInfo msginfo; + size_t slash_pos = message_type.find('/'); + if (slash_pos == std::string::npos) + { + throw std::runtime_error("Passed message type string does not include a slash character."); + } + std::string module_name = message_type.substr(0, slash_pos); + std::string class_name = message_type.substr(slash_pos + 1, std::string::npos); + + PyObject* module = PyImport_ImportModule((module_name + "." + submodule).c_str()); + if (!module) + { + throw std::runtime_error("Unable to import message module " + module_name + "."); + } + PyObject* msg_class = PyObject_GetAttrString(module, class_name.c_str()); + if (!msg_class) + { + throw std::runtime_error("Unable to find message class " + class_name + + " in module " + module_name + "."); + } + Py_XDECREF(module); + + PyObject* full_text = PyObject_GetAttrString(msg_class, "_full_text"); + PyObject* md5sum = PyObject_GetAttrString(msg_class, "_md5sum"); + if (!md5sum) + { + throw std::runtime_error("Class for message " + message_type + " did not contain" + + "expected _md5sum attribute."); + } + Py_XDECREF(msg_class); + +#if PY_VERSION_HEX > 0x03000000 + if (full_text) + { + msginfo.full_text.assign(PyUnicode_AsUTF8(full_text)); + } + msginfo.md5sum.assign(PyUnicode_AsUTF8(md5sum)); +#else + if (full_text) + { + msginfo.full_text.assign(PyString_AsString(full_text)); + } + msginfo.md5sum.assign(PyString_AsString(md5sum)); +#endif + + // See https://github.com/ros/ros_comm/issues/344 + // and https://github.com/ros/gencpp/pull/14 + // Valid full_text returned, but it is empty, so insert single line + if (full_text && msginfo.full_text.empty()) + { + msginfo.full_text = "\n"; + } + + Py_XDECREF(full_text); + Py_XDECREF(md5sum); + + return msginfo; +} + +} // namespace rosserial_server diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp new file mode 100644 index 0000000..8fcd890 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/serial_node.cpp @@ -0,0 +1,56 @@ +/** + * + * \file + * \brief Main entry point for the serial node. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/serial_session.h" + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_serial_node"); + + std::string port; + int baud; + ros::param::param("~port", port, "/dev/ttyACM0"); + ros::param::param("~baud", baud, 57600); + + boost::asio::io_service io_service; + rosserial_server::SerialSession serial_session(io_service, port, baud); + io_service.run(); + return 0; +} diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp new file mode 100644 index 0000000..e803b6d --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/socket_node.cpp @@ -0,0 +1,56 @@ +/** + * + * \file + * \brief Main entry point for the socket server node. + * \author Mike Purvis + * \copyright Copyright (c) 2013, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/tcp_server.h" + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_socket_node"); + + int port; + ros::param::param("~port", port, 11411); + + boost::asio::io_service io_service; + rosserial_server::TcpServer<> tcp_server(io_service, port); + + ROS_INFO_STREAM("Listening for rosserial TCP connections on port " << port); + io_service.run(); + return 0; +} diff --git a/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp new file mode 100644 index 0000000..1ff7718 --- /dev/null +++ b/docker/testBot/OdomComm/docker/odometry/rosserial_server/src/udp_socket_node.cpp @@ -0,0 +1,65 @@ +/** + * + * \file + * \brief Main entry point for the UDP socket server node. + * \author Mike Purvis + * \copyright Copyright (c) 2016, Clearpath Robotics, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Please send comments, questions, or patches to code@clearpathrobotics.com + * + */ + +#include +#include +#include + +#include + +#include "rosserial_server/udp_socket_session.h" + +using boost::asio::ip::udp; +using boost::asio::ip::address; + + +int main(int argc, char* argv[]) +{ + ros::init(argc, argv, "rosserial_server_udp_socket_node"); + + int server_port; + int client_port; + std::string client_addr; + ros::param::param("~server_port", server_port, 11411); + ros::param::param("~client_port", client_port, 11411); + ros::param::param("~client_addr", client_addr, "127.0.0.1"); + + boost::asio::io_service io_service; + rosserial_server::UdpSocketSession udp_socket_session( + io_service, + udp::endpoint(udp::v4(), server_port), + udp::endpoint(address::from_string(client_addr), client_port)); + io_service.run(); + + return 0; +} diff --git a/docker/testBot/OdomComm/docker/start-bridge.sh b/docker/testBot/OdomComm/docker/start-bridge.sh new file mode 100644 index 0000000..1cc90c5 --- /dev/null +++ b/docker/testBot/OdomComm/docker/start-bridge.sh @@ -0,0 +1,14 @@ +#!/bin/bash -e + +if [ $# = 1 ]; then + export ROS_MASTER_URI=$1 +else + export ROS_MASTER_URI=http://localhost:11311 +fi + +# Normally, sourcing the setup.bash file is sufficient to set up the ROS environment. +# However, the ros1_bridge package can't be found by ROS 2 even if we source the file. Manual sourcing is required. +source /ros2_humble/install/setup.bash +source /ros2_humble/install/ros1_bridge/share/ros1_bridge/local_setup.bash + +ros2 run ros1_bridge dynamic_bridge \ No newline at end of file diff --git a/docker/testBot/OdomComm/pull_and_run.sh b/docker/testBot/OdomComm/pull_and_run.sh new file mode 100755 index 0000000..213ad95 --- /dev/null +++ b/docker/testBot/OdomComm/pull_and_run.sh @@ -0,0 +1,23 @@ +#!/bin/bash + +## 0. clean container within same group +echo "=== [COMMUNICATION] Pull & Run ===" +echo "[COMMUNICATION] Remove Containers ..." +docker compose -p communication down --volumes --remove-orphans + +## 1. make scripts & library executable +find ../E.Communication -type f -name "*.sh" -exec sudo chmod +x {} \; + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. build image +echo "[COMMUNICATION] Pull Images ..." +docker pull pomelo925/ttennis-humble:communication + +## 4. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication up +# docker compose -p communication up -d \ No newline at end of file diff --git a/docker/testBot/docker-compose.yaml b/docker/testBot/docker-compose.yaml index ac5ba76..b3429ac 100644 --- a/docker/testBot/docker-compose.yaml +++ b/docker/testBot/docker-compose.yaml @@ -1,28 +1,52 @@ version: '3' services: - ros1-localization-dev: + ros2-localization-dev: build: context: . dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros1-ImuLidar - container_name: localization-2025-ros1-dev + image: jossiewang/eurobot2025-localization:testBot-ros2 + container_name: localization-2025-dev-ros2 stdin_open: true tty: true privileged: true stop_grace_period: 1s restart: no + # entrypoint: ["./start.sh"] + network_mode: host - working_dir: /home/user/localization-ws-ros1 + working_dir: /home/user/localization-ws environment: - DISPLAY=${DISPLAY} - - ROS_WS=/home/user/localization-ws-ros1 + # Set ros2 environment variables. + # References: + # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html + # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html + # - ROS_LOCALHOST_ONLY=1 + # - ROS_DOMAIN_ID=42 + - ROS_WS=/home/user/localization-ws volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container - /etc/timezone:/etc/timezone:ro - /etc/localtime:/etc/localtime:ro + # Mount X11 server - /tmp/.X11-unix:/tmp/.X11-unix + # Direct Rendering Infrastructure + # - /dev/dri:/dev/dri + # Mount sound card to prevent Gazebo warning. + # - /dev/snd:/dev/snd - /dev:/dev - # - ../../localization-ws-ros1/src/localization-devel-ws:/home/user/localization-ws-ros1/src/localization-devel-ws:rw - - ../../localization-ws-ros1/src/localization-devel-ws:/home/user/localization-ws-ros1/src/localization-devel-ws - command: /bin/bash -c "echo 'export ROS_HOSTNAME=192.168.50.10' >> ~/.bashrc && echo 'export ROS_MASTER_URI=http://192.168.50.10:11311' >> ~/.bashrc && /home/user/localization-ws-ros1/src/localization-devel-ws/usb.sh && /bin/bash" \ No newline at end of file + # Mount Gazebo models directory to reuse models downloaded during first launch. + # Reference: https://answers.ros.org/question/365658 + # - ./cache/.gazebo:/home/user/.gazebo + # Mounting the following directories will forbid direct deletion. + # Consider mount these directories only if the build process is slow. + # "source=${localWorkspaceFolder}/../cache/humble/build,target=/home/ws/build,type=bind", + # "source=${localWorkspaceFolder}/../cache/humble/install,target=/home/ws/install,type=bind", + # "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind" + # Mount workspace + - ../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + # command: /bin/bash -c "echo 'export ROS_DOMAIN_ID=42' >> ~/.bashrc && /bin/bash" + command: /bin/bash \ No newline at end of file From 2bfc9b89a8bb3ec737db9af516ffd74152c87f27 Mon Sep 17 00:00:00 2001 From: robert Date: Sat, 18 Jan 2025 20:41:05 +0800 Subject: [PATCH 030/184] launch files to ROS2 --- .../local/local_filter/CMakeLists.txt | 6 +- .../local/local_filter/cmake/Findeigen.cmake | 0 .../local_filter/launch/local_filter.xml | 39 ++++ .../launch/local_filter_whole.xml | 61 ++++++ .../local/local_filter/package.xml | 2 + .../local_filter/param/local_filter.yaml | 0 .../param/local_filter_whole.yaml | 0 .../local_filter/src/local_filter_LPF.cpp | 0 .../wheel_odom/odom_drive/CMakeLists.txt | 0 .../local/wheel_odom/odom_drive}/LICENSE | 0 .../local/wheel_odom/odom_drive/package.xml | 0 .../local/imu/imu_drive/CMakeLists.txt | 24 --- .../local/imu/imu_drive/package.xml | 20 -- .../local_filter/launch/local_filter.launch | 37 ---- .../launch/local_filter_whole.launch | 54 ----- .../local/wheel_odom/odom_drive/LICENSE | 202 ------------------ 16 files changed, 106 insertions(+), 339 deletions(-) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/local_filter/CMakeLists.txt (97%) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/local_filter/cmake/Findeigen.cmake (100%) create mode 100644 localization-devel-ws/local/local_filter/launch/local_filter.xml create mode 100644 localization-devel-ws/local/local_filter/launch/local_filter_whole.xml rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/local_filter/package.xml (95%) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/local_filter/param/local_filter.yaml (100%) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/local_filter/param/local_filter_whole.yaml (100%) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/local_filter/src/local_filter_LPF.cpp (100%) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/wheel_odom/odom_drive/CMakeLists.txt (100%) rename {localization-ws/src/localization-devel-ws/local/imu/imu_drive => localization-devel-ws/local/wheel_odom/odom_drive}/LICENSE (100%) rename {localization-ws/src/localization-devel-ws => localization-devel-ws}/local/wheel_odom/odom_drive/package.xml (100%) delete mode 100644 localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt delete mode 100644 localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml delete mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch delete mode 100644 localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch delete mode 100644 localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt b/localization-devel-ws/local/local_filter/CMakeLists.txt similarity index 97% rename from localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt rename to localization-devel-ws/local/local_filter/CMakeLists.txt index 4e2886d..77be67f 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/CMakeLists.txt +++ b/localization-devel-ws/local/local_filter/CMakeLists.txt @@ -39,8 +39,10 @@ install(TARGETS DESTINATION lib/${PROJECT_NAME} ) -install( - DIRECTORY include/ +install(DIRECTORY + include + launch + param DESTINATION include/${PROJECT_NAME} ) diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake b/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake similarity index 100% rename from localization-ws/src/localization-devel-ws/local/local_filter/cmake/Findeigen.cmake rename to localization-devel-ws/local/local_filter/cmake/Findeigen.cmake diff --git a/localization-devel-ws/local/local_filter/launch/local_filter.xml b/localization-devel-ws/local/local_filter/launch/local_filter.xml new file mode 100644 index 0000000..2894e42 --- /dev/null +++ b/localization-devel-ws/local/local_filter/launch/local_filter.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml b/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml new file mode 100644 index 0000000..e6b7088 --- /dev/null +++ b/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/package.xml b/localization-devel-ws/local/local_filter/package.xml similarity index 95% rename from localization-ws/src/localization-devel-ws/local/local_filter/package.xml rename to localization-devel-ws/local/local_filter/package.xml index a152f28..21314f6 100644 --- a/localization-ws/src/localization-devel-ws/local/local_filter/package.xml +++ b/localization-devel-ws/local/local_filter/package.xml @@ -18,6 +18,8 @@ tf2_ros tf2_geometry_msgs + ros2launch + ament_lint_auto ament_lint_common diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml b/localization-devel-ws/local/local_filter/param/local_filter.yaml similarity index 100% rename from localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter.yaml rename to localization-devel-ws/local/local_filter/param/local_filter.yaml diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml b/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml similarity index 100% rename from localization-ws/src/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml rename to localization-devel-ws/local/local_filter/param/local_filter_whole.yaml diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp similarity index 100% rename from localization-ws/src/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp rename to localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp diff --git a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt b/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt similarity index 100% rename from localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt rename to localization-devel-ws/local/wheel_odom/odom_drive/CMakeLists.txt diff --git a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/LICENSE b/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE similarity index 100% rename from localization-ws/src/localization-devel-ws/local/imu/imu_drive/LICENSE rename to localization-devel-ws/local/wheel_odom/odom_drive/LICENSE diff --git a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/package.xml b/localization-devel-ws/local/wheel_odom/odom_drive/package.xml similarity index 100% rename from localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/package.xml rename to localization-devel-ws/local/wheel_odom/odom_drive/package.xml diff --git a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt deleted file mode 100644 index 641a8bb..0000000 --- a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(imu_drive) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml b/localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml deleted file mode 100644 index 44b1135..0000000 --- a/localization-ws/src/localization-devel-ws/local/imu/imu_drive/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - imu_drive - 0.0.0 - TODO: Package description - user - Apache-2.0 - - ament_cmake - - rclcpp - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch deleted file mode 100644 index db4b70d..0000000 --- a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter.launch +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch b/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch deleted file mode 100644 index 88fe4b1..0000000 --- a/localization-ws/src/localization-devel-ws/local/local_filter/launch/local_filter_whole.launch +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE b/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE deleted file mode 100644 index d645695..0000000 --- a/localization-ws/src/localization-devel-ws/local/wheel_odom/odom_drive/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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From ced5083628a6646babb8b9f891ab8f5eb7cfdf53 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 09:40:57 +0800 Subject: [PATCH 031/184] Add: (BeaconProb) obstacle visualization test --- .../launch/probability_circle_launch.xml | 11 +++ .../probability_circle_publisher.py | 71 +++++++++++++++++++ .../global/lidar_localization_pkg/package.xml | 2 + .../global/lidar_localization_pkg/setup.py | 5 +- 4 files changed, 88 insertions(+), 1 deletion(-) create mode 100644 localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml create mode 100644 localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml new file mode 100644 index 0000000..8d27727 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py new file mode 100644 index 0000000..6e45640 --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 + +import rclpy +from rclpy.node import Node +from visualization_msgs.msg import Marker, MarkerArray +from std_msgs.msg import ColorRGBA +from geometry_msgs.msg import Point +import random + +class ProbabilityCirclePublisher(Node): + def __init__(self): + super().__init__('probability_circle_publisher') + self.publisher = self.create_publisher(MarkerArray, 'circles', 10) + self.timer = self.create_timer(1.0, self.publish_circles) + self.get_logger().info("Probability Circle Publisher Node has been started") + + def publish_circles(self): + marker_array = MarkerArray() + + # Example: Generate random probabilities for a set of circles + num_circles = 10 + for i in range(num_circles): + probability = random.uniform(0.0, 1.0) # Random probability between 0 and 1 + + # Create a circle marker + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = self.get_clock().now().to_msg() + marker.ns = "circles" + marker.id = i + marker.type = Marker.SPHERE + marker.action = Marker.ADD + + # Set the circle's position (random in this example) + marker.pose.position.x = random.uniform(-5.0, 5.0) + marker.pose.position.y = random.uniform(-5.0, 5.0) + marker.pose.position.z = 0.0 + marker.pose.orientation.w = 1.0 # Neutral orientation + + # Set the scale (size of the circle) + marker.scale.x = 1.0 # Diameter of the circle + marker.scale.y = 1.0 + marker.scale.z = 0.1 # Flat circle in Z-axis + + # Set the color based on the probability + color_intensity = float(probability) # Ensure probability is a float + marker.color = ColorRGBA(r=float(0), # Red decreases with probability + g=float(128/255), # Green increases with probability + b=float(1), # No blue + a=color_intensity) # Transparency + + # Add the marker to the array + marker_array.markers.append(marker) + + # Publish the marker array + self.publisher.publish(marker_array) + self.get_logger().info(f"Published {num_circles} circles with probabilities") + +def main(args=None): + rclpy.init(args=args) + node = ProbabilityCirclePublisher() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/localization-devel-ws/global/lidar_localization_pkg/package.xml b/localization-devel-ws/global/lidar_localization_pkg/package.xml index 12d85a6..f09813e 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/package.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/package.xml @@ -15,6 +15,8 @@ nav_msgs tf2_ros obstacle_detector + visualization_msgs + std_msgs ament_copyright ament_flake8 diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py index b08a96c..eae1929 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/setup.py +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -24,6 +24,8 @@ 'rclpy', 'geometry_msgs', 'obstacle_detector', + 'visualization_msgs', + 'std_msgs', ], zip_safe=True, maintainer='jossiew621', @@ -40,7 +42,8 @@ tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'lidar_localization = lidar_localization_pkg.lidar_member_function:main' + 'lidar_localization = lidar_localization_pkg.lidar_member_function:main', + 'circle_publisher = lidar_localization_pkg.probability_circle_publisher:main', ], }, ) From 141efa6ed694d26f3f48dfef6d69a8fc73c77859 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 09:56:30 +0800 Subject: [PATCH 032/184] Add: (BeaconProb) explicit probability shown --- .../probability_circle_publisher.py | 27 +++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py index 6e45640..9a7f33e 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py @@ -52,6 +52,33 @@ def publish_circles(self): # Add the marker to the array marker_array.markers.append(marker) + # Create a text marker to display the probability + text_marker = Marker() + text_marker.header.frame_id = "map" + text_marker.header.stamp = self.get_clock().now().to_msg() + text_marker.ns = "text" + text_marker.id = num_circles + i # Ensure unique ID + text_marker.type = Marker.TEXT_VIEW_FACING + text_marker.action = Marker.ADD + + # Set the text position to match the circle's position + text_marker.pose.position.x = marker.pose.position.x + text_marker.pose.position.y = marker.pose.position.y + text_marker.pose.position.z = marker.pose.position.z + 0.5 # Slightly above the circle + text_marker.pose.orientation.w = 1.0 # Neutral orientation + + # Set the scale (size of the text) + text_marker.scale.z = 0.3 # Height of the text + + # Set the color of the text + text_marker.color = ColorRGBA(r=1.0, g=1.0, b=1.0, a=1.0) # White text + + # Set the text to display the probability + text_marker.text = f"{probability:.2f}" + + # Add the text marker to the array + marker_array.markers.append(text_marker) + # Publish the marker array self.publisher.publish(marker_array) self.get_logger().info(f"Published {num_circles} circles with probabilities") From 3cb48da957ea6deea82e900fd472497ddcaa97f3 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 11:10:59 +0800 Subject: [PATCH 033/184] Add: (BeaconProb) a simulated predict publisher notes: - use foxglove or rqt to publish param for the publisher - `PoseWithCovarianceStamped, '/pred_pub_param'` --- .../launch/debug_visualize_launch.xml | 17 +++++ .../launch/probability_circle_launch.xml | 11 ---- .../lidar_member_function.py | 61 ++++++++++++----- .../lidar_localization_pkg/pred_publisher.py | 66 +++++++++++++++++++ .../probability_circle_publisher.py | 6 +- .../global/lidar_localization_pkg/setup.py | 2 + 6 files changed, 132 insertions(+), 31 deletions(-) create mode 100644 localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml delete mode 100644 localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml create mode 100644 localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml new file mode 100644 index 0000000..4bd979f --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml deleted file mode 100644 index 8d27727..0000000 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/probability_circle_launch.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 1ff5dc7..519cdc2 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -3,6 +3,8 @@ from geometry_msgs.msg import PoseWithCovarianceStamped from obstacle_detector.msg import Obstacles +from visualization_msgs.msg import Marker, MarkerArray +from std_msgs.msg import ColorRGBA import numpy as np @@ -26,9 +28,12 @@ def __init__(self): ] # set debug mode self.debug_mode = False + self.visualize_mode = True # ros settings self.lidar_pose_pub = self.create_publisher(PoseWithCovarianceStamped, 'lidar_pose', 10) + if self.visualize_mode: + self.circles_pub = self.create_publisher(MarkerArray, 'candidates', 10) self.subscription = self.create_subscription( Obstacles, 'raw_obstacles', @@ -52,21 +57,6 @@ def __init__(self): self.newPose = False self.R = np.array([[0.05**2, 0.0], [0.0, 0.05**2]]) # R: measurement noise; TODO: tune the value self.lidar_pose_msg = PoseWithCovarianceStamped() - - # def listener_callback(self, msg): - # self.get_logger().info('I heard: "%s"' % msg.data) - # # lidar_pose_msg - # lidar_pose_msg = PoseWithCovarianceStamped() - # lidar_pose_msg.header.stamp = self.get_clock().now().to_msg() - # lidar_pose_msg.header.frame_id = 'base_link' - # lidar_pose_msg.pose.pose.position.x = 1.0 - # lidar_pose_msg.pose.pose.position.y = 2.0 - # lidar_pose_msg.pose.pose.position.z = 3.0 - # lidar_pose_msg.pose.pose.orientation.x = 0.0 - # lidar_pose_msg.pose.pose.orientation.y = 0.0 - # lidar_pose_msg.pose.pose.orientation.z = 0.0 - # lidar_pose_msg.pose.pose.orientation.w = 1.0 - # self.lidar_pose_pub.publish(lidar_pose_msg) def obstacle_callback(self, msg): self.get_logger().debug('obstacle detected') @@ -140,7 +130,27 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): S_det = np.linalg.det(S) normalizer = 1 / np.sqrt((2 * np.pi) ** 2 * S_det) - likelihood_threshold = 0.1 # Define a threshold for likelihood + likelihood_threshold = 0 # Define a threshold for likelihood + if self.visualizer_mode: + marker = Marker() + marker.header.frame_id = "robot" + marker.header.stamp = self.get_clock().now().to_msg() + marker.ns = "candidates" + marker.type = Marker.SPHERE + marker.action = Marker.ADD + marker.scale.x = 0.1 + marker.scale.y = 0.1 + marker.scale.z = 0.01 + + text_marker = Marker() + text_marker.header.frame_id = "robot" + text_marker.header.stamp = self.get_clock().now().to_msg() + text_marker.ns = "text" + text_marker.type = Marker.TEXT_VIEW_FACING + text_marker.action = Marker.ADD + text_marker.scale.z = 0.1 + text_marker.color = ColorRGBA(r=1.0, g=1.0, b=1.0, a=1.0) # White text + marker_id = 0 for obs in obs_raw: r_z = np.sqrt(obs[0] ** 2 + obs[1] ** 2) @@ -152,7 +162,24 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): likelihood = likelihood / normalizer if likelihood > likelihood_threshold: obs_candidates.append({'position': obs, 'probability': likelihood}) - + if self.visualize_mode: + # use visualization_msgs to visualize the likelihood + marker.pose.position.x = obs[0] + marker.pose.position.y = obs[1] + marker.pose.position.z = 0.0 + marker.color = ColorRGBA(r=0.0, g=0.5, b=1.0, a=likelihood) + marker_id += 1 + marker.id = marker_id + marker_array.markers.append(marker) + text_marker.pose.position.x = obs[0] + text_marker.pose.position.y = obs[1] + text_marker.pose.position.z = 0.1 + text_marker.text = f"{likelihood:.2f}" + text_marker.id = marker_id + marker_array.markers.append(text_marker) + if self.visualize_mode: + self.circles_pub.publish(marker_array) + return obs_candidates def get_landmarks_candidate(self, landmarks_map, obs_raw, robot_pose, P_pred, R): diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py new file mode 100644 index 0000000..aa08c2f --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py @@ -0,0 +1,66 @@ +import rclpy +from rclpy.node import Node +from std_msgs.msg import Float64 +from geometry_msgs.msg import PoseWithCovarianceStamped +from tf2_ros import TransformBroadcaster +from geometry_msgs.msg import TransformStamped + +class PredPublisher(Node): + def __init__(self): + super().__init__('pred_publisher') + self.pose_pred = PoseWithCovarianceStamped() + self.pose_pred.header.frame_id = 'robot' + self.pose_pred.pose.pose.position.x = 0.0 + self.pose_pred.pose.pose.position.y = 0.0 + self.pose_pred.pose.pose.position.z = 0.0 + self.pose_pred.pose.pose.orientation.x = 0.0 + self.pose_pred.pose.pose.orientation.y = 0.0 + self.pose_pred.pose.pose.orientation.z = 0.0 + self.pose_pred.pose.pose.orientation.w = 1.0 + self.pose_pred.pose.covariance = [0.0] * 36 + self.pose_pred.pose.covariance[0] = 0.0025 + self.pose_pred.pose.covariance[7] = 0.0025 + self.pose_pred.pose.covariance[35] = 0.25 + + self.pub = self.create_publisher(PoseWithCovarianceStamped, '/pred_pose', 10) + self.sub = self.create_subscription(PoseWithCovarianceStamped, '/pred_pub_param', self.param_callback, 10) + + self.br = TransformBroadcaster(self) + self.timer = self.create_timer(0.01, self.publish_pose) # 100Hz + + def param_callback(self, msg): + # Modify the pose_pred data based on the received parameter + self.pose_pred.pose.pose.position.x = msg.pose.pose.position.x + self.pose_pred.pose.pose.position.y = msg.pose.pose.position.y + self.pose_pred.pose.pose.position.z = msg.pose.pose.position.z + self.pose_pred.pose.pose.orientation.x = msg.pose.pose.orientation.x + self.pose_pred.pose.pose.orientation.y = msg.pose.pose.orientation.y + self.pose_pred.pose.pose.orientation.z = msg.pose.pose.orientation.z + self.pose_pred.pose.pose.orientation.w = msg.pose.pose.orientation.w + self.pose_pred.pose.covariance = msg.pose.covariance + + # Broadcast static transform from map to robot base + t = TransformStamped() + t.header.stamp = self.get_clock().now().to_msg() + t.header.frame_id = 'map' + t.child_frame_id = 'robot' + t.transform.translation.x = self.pose_pred.pose.pose.position.x + t.transform.translation.y = self.pose_pred.pose.pose.position.y + t.transform.translation.z = self.pose_pred.pose.pose.position.z + t.transform.rotation = self.pose_pred.pose.pose.orientation + + self.br.sendTransform(t) + + def publish_pose(self): + self.pose_pred.header.stamp = self.get_clock().now().to_msg() + self.pub.publish(self.pose_pred) + +def main(args=None): + rclpy.init(args=args) + pred_publisher = PredPublisher() + rclpy.spin(pred_publisher) + pred_publisher.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py index 9a7f33e..eedb438 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/probability_circle_publisher.py @@ -44,9 +44,9 @@ def publish_circles(self): # Set the color based on the probability color_intensity = float(probability) # Ensure probability is a float - marker.color = ColorRGBA(r=float(0), # Red decreases with probability - g=float(128/255), # Green increases with probability - b=float(1), # No blue + marker.color = ColorRGBA(r=float(0), + g=float(128/255), + b=float(1), a=color_intensity) # Transparency # Add the marker to the array diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py index eae1929..aefdee3 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/setup.py +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -26,6 +26,7 @@ 'obstacle_detector', 'visualization_msgs', 'std_msgs', + 'tf2_ros', ], zip_safe=True, maintainer='jossiew621', @@ -44,6 +45,7 @@ 'console_scripts': [ 'lidar_localization = lidar_localization_pkg.lidar_member_function:main', 'circle_publisher = lidar_localization_pkg.probability_circle_publisher:main', + 'pred_publisher = lidar_localization_pkg.pred_publisher:main', ], }, ) From 3d87ff49c586aeeddf19fb73a8fe0006f4fc7b99 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 11:30:11 +0800 Subject: [PATCH 034/184] Fix: (BeaconProb) frame_id --- .../lidar_localization_pkg/lidar_member_function.py | 4 ++-- .../lidar_localization_pkg/pred_publisher.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 519cdc2..a36c439 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -133,7 +133,7 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): likelihood_threshold = 0 # Define a threshold for likelihood if self.visualizer_mode: marker = Marker() - marker.header.frame_id = "robot" + marker.header.frame_id = "robot_predict" marker.header.stamp = self.get_clock().now().to_msg() marker.ns = "candidates" marker.type = Marker.SPHERE @@ -143,7 +143,7 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): marker.scale.z = 0.01 text_marker = Marker() - text_marker.header.frame_id = "robot" + text_marker.header.frame_id = "robot_predict" text_marker.header.stamp = self.get_clock().now().to_msg() text_marker.ns = "text" text_marker.type = Marker.TEXT_VIEW_FACING diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py index aa08c2f..9ceb75c 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/pred_publisher.py @@ -9,7 +9,7 @@ class PredPublisher(Node): def __init__(self): super().__init__('pred_publisher') self.pose_pred = PoseWithCovarianceStamped() - self.pose_pred.header.frame_id = 'robot' + self.pose_pred.header.frame_id = 'map' self.pose_pred.pose.pose.position.x = 0.0 self.pose_pred.pose.pose.position.y = 0.0 self.pose_pred.pose.pose.position.z = 0.0 @@ -43,7 +43,7 @@ def param_callback(self, msg): t = TransformStamped() t.header.stamp = self.get_clock().now().to_msg() t.header.frame_id = 'map' - t.child_frame_id = 'robot' + t.child_frame_id = 'robot_predict' t.transform.translation.x = self.pose_pred.pose.pose.position.x t.transform.translation.y = self.pose_pred.pose.pose.position.y t.transform.translation.z = self.pose_pred.pose.pose.position.z From eaa04f48e6eefd5e908fef053f9e31c0a47c7f57 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 12:23:29 +0800 Subject: [PATCH 035/184] Modified: (BeaconProb) frame_id and some bugs --- .../launch/debug_visualize_launch.xml | 5 ++- .../launch/obstacle_extractor_launch.xml | 2 +- .../launch/view_obstacles_launch.xml | 5 ++- .../lidar_member_function.py | 39 ++++++++++--------- 4 files changed, 28 insertions(+), 23 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml index 4bd979f..6b46031 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml @@ -1,9 +1,8 @@ - - + @@ -11,6 +10,8 @@ + + diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml index dd7f859..be7d668 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml @@ -24,7 +24,7 @@ - + diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml index 357f363..8fcd095 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml @@ -1,8 +1,9 @@ - + - + + \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index a36c439..c85a683 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -67,21 +67,21 @@ def obstacle_callback(self, msg): self.obs_time = msg.header.stamp # data processing if self.newPose == False: # Check if robot_pose or P_pred is empty - self.print_debug("no new robot pose or P_pred") + self.get_logger().debug("no new robot pose or P_pred") return self.landmarks_candidate = self.get_landmarks_candidate(self.landmarks_map, self.obs_raw, self.robot_pose, self.P_pred, self.R) self.landmarks_set = self.get_landmarks_set(self.landmarks_candidate) if len(self.landmarks_set) == 0: - self.print_debug("empty landmarks set") + self.get_logger().debug("empty landmarks set") return self.lidar_pose, self.lidar_cov = self.get_lidar_pose(self.landmarks_set, self.landmarks_map) # clear used data self.clear_data() def pred_pose_callback(self, msg): - # self.print_debug("Robot pose callback triggered") + # self.get_logger().debug("Robot pose callback triggered") self.newPose = True - orientation = euler_from_quaternion(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)[2] # raw, pitch, *yaw + orientation = euler_from_quaternion(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w) # raw, pitch, *yaw # check orientation range if orientation < 0: orientation += 2 * np.pi @@ -131,7 +131,7 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): normalizer = 1 / np.sqrt((2 * np.pi) ** 2 * S_det) likelihood_threshold = 0 # Define a threshold for likelihood - if self.visualizer_mode: + if self.visualize_mode: marker = Marker() marker.header.frame_id = "robot_predict" marker.header.stamp = self.get_clock().now().to_msg() @@ -152,6 +152,8 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): text_marker.color = ColorRGBA(r=1.0, g=1.0, b=1.0, a=1.0) # White text marker_id = 0 + marker_array = MarkerArray() + for obs in obs_raw: r_z = np.sqrt(obs[0] ** 2 + obs[1] ** 2) theta_z = np.arctan2(obs[1], obs[0]) @@ -179,6 +181,7 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): marker_array.markers.append(text_marker) if self.visualize_mode: self.circles_pub.publish(marker_array) + self.get_logger().debug("Published marker array") return obs_candidates @@ -353,29 +356,29 @@ def quaternion_from_euler(ai, aj, ak): sj = np.sin(aj) ck = np.cos(ak) sk = np.sin(ak) - cc = ci*ck - cs = ci*sk - sc = si*ck - ss = si*sk - q = np.empty((4, )) - q[0] = cj*sc - sj*cs - q[1] = cj*ss + sj*cc - q[2] = cj*cs - sj*sc - q[3] = cj*cc + sj*ss + cc = ci * ck + cs = ci * sk + sc = si * ck + ss = si * sk + q = np.empty((4,)) + q[0] = cj * sc - sj * cs + q[1] = cj * ss + sj * cc + q[2] = cj * cs - sj * sc + q[3] = cj * cc + sj * ss return q def euler_from_quaternion(x, y, z, w): t0 = +2.0 * (w * x + y * z) t1 = +1.0 - 2.0 * (x * x + y * y) - roll_x = np.atan2(t0, t1) + roll_x = np.arctan2(t0, t1) t2 = +2.0 * (w * y - z * x) t2 = +1.0 if t2 > +1.0 else t2 t2 = -1.0 if t2 < -1.0 else t2 - pitch_y = np.asin(t2) + pitch_y = np.arcsin(t2) t3 = +2.0 * (w * z + x * y) t4 = +1.0 - 2.0 * (y * y + z * z) - yaw_z = np.atan2(t3, t4) - return yaw_z # in radians + yaw_z = np.arctan2(t3, t4) + return yaw_z # in radians def angle_limit_checking(theta): while theta > np.pi: From d0be23135613e08a69ed7aac54569d470675205b Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 16:07:57 +0800 Subject: [PATCH 036/184] Fix: (BeaconProb) visualization bug --- .../launch/debug_visualize_launch.xml | 3 ++ .../lidar_member_function.py | 33 ++++++++++++++++--- 2 files changed, 32 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml index 6b46031..72962d7 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml @@ -4,6 +4,9 @@ + + + diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index c85a683..4506670 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -28,11 +28,13 @@ def __init__(self): ] # set debug mode self.debug_mode = False - self.visualize_mode = True + self.visualize_candidate = True + self.beacon_no = 0 + # ros settings self.lidar_pose_pub = self.create_publisher(PoseWithCovarianceStamped, 'lidar_pose', 10) - if self.visualize_mode: + if self.visualize_candidate: self.circles_pub = self.create_publisher(MarkerArray, 'candidates', 10) self.subscription = self.create_subscription( Obstacles, @@ -164,7 +166,26 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): likelihood = likelihood / normalizer if likelihood > likelihood_threshold: obs_candidates.append({'position': obs, 'probability': likelihood}) - if self.visualize_mode: + if self.visualize_candidate and self.beacon_no == 1: + marker = Marker() + marker.header.frame_id = "robot_predict" + marker.header.stamp = self.get_clock().now().to_msg() + marker.ns = "candidates" + marker.type = Marker.SPHERE + marker.action = Marker.ADD + marker.scale.x = 0.1 + marker.scale.y = 0.1 + marker.scale.z = 0.01 + + text_marker = Marker() + text_marker.header.frame_id = "robot_predict" + text_marker.header.stamp = self.get_clock().now().to_msg() + text_marker.ns = "text" + text_marker.type = Marker.TEXT_VIEW_FACING + text_marker.action = Marker.ADD + text_marker.scale.z = 0.1 + text_marker.color = ColorRGBA(r=1.0, g=1.0, b=1.0, a=1.0) # White text + # use visualization_msgs to visualize the likelihood marker.pose.position.x = obs[0] marker.pose.position.y = obs[1] @@ -179,15 +200,19 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): text_marker.text = f"{likelihood:.2f}" text_marker.id = marker_id marker_array.markers.append(text_marker) - if self.visualize_mode: + if self.visualize_candidate and self.beacon_no == 1: self.circles_pub.publish(marker_array) self.get_logger().debug("Published marker array") + # clean up + marker_array.markers.clear() return obs_candidates def get_landmarks_candidate(self, landmarks_map, obs_raw, robot_pose, P_pred, R): landmarks_candidate = [] + self.beacon_no = 0 for landmark in landmarks_map: + self.beacon_no += 1 candidate = { 'landmark': landmark, 'obs_candidates': self.get_obs_candidate(robot_pose, P_pred, R, landmark, obs_raw) From 033af7eb7f7f2c15f1629f0c6c1f852a831dbf72 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 16:08:52 +0800 Subject: [PATCH 037/184] Fix: commit bugs --- .../lidar_member_function.py | 26 +++---------------- 1 file changed, 3 insertions(+), 23 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 4506670..8553015 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -132,29 +132,9 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): S_det = np.linalg.det(S) normalizer = 1 / np.sqrt((2 * np.pi) ** 2 * S_det) - likelihood_threshold = 0 # Define a threshold for likelihood - if self.visualize_mode: - marker = Marker() - marker.header.frame_id = "robot_predict" - marker.header.stamp = self.get_clock().now().to_msg() - marker.ns = "candidates" - marker.type = Marker.SPHERE - marker.action = Marker.ADD - marker.scale.x = 0.1 - marker.scale.y = 0.1 - marker.scale.z = 0.01 - - text_marker = Marker() - text_marker.header.frame_id = "robot_predict" - text_marker.header.stamp = self.get_clock().now().to_msg() - text_marker.ns = "text" - text_marker.type = Marker.TEXT_VIEW_FACING - text_marker.action = Marker.ADD - text_marker.scale.z = 0.1 - text_marker.color = ColorRGBA(r=1.0, g=1.0, b=1.0, a=1.0) # White text - marker_id = 0 - - marker_array = MarkerArray() + likelihood_threshold = 0.001 # Define a threshold for likelihood + marker_id = 0 + marker_array = MarkerArray() for obs in obs_raw: r_z = np.sqrt(obs[0] ** 2 + obs[1] ** 2) From b249df1839532859c4465075f746d1e8de82dee4 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 20 Jan 2025 20:46:24 +0800 Subject: [PATCH 038/184] Add: (BeaconProb) load params form yml notes: it seems that the params set in launch overwrite those set in .yml, but maybe it's because the file is load before in launch file. --- .../config/lidar_localization.yml | 7 ++ .../launch/debug_visualize_launch.xml | 17 ++++- .../lidar_member_function.py | 74 ++++++++----------- .../global/lidar_localization_pkg/setup.py | 2 + 4 files changed, 55 insertions(+), 45 deletions(-) create mode 100644 localization-devel-ws/global/lidar_localization_pkg/config/lidar_localization.yml diff --git a/localization-devel-ws/global/lidar_localization_pkg/config/lidar_localization.yml b/localization-devel-ws/global/lidar_localization_pkg/config/lidar_localization.yml new file mode 100644 index 0000000..f0dafea --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/config/lidar_localization.yml @@ -0,0 +1,7 @@ +lidar_localization: + ros__parameters: + side: 0 + debug_mode: false + visualize_candidate: true + likelihood_threshold: 0.001 + consistency_threshold: 0.85 \ No newline at end of file diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml index 72962d7..64d478c 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml @@ -1,12 +1,23 @@ - + + + + + + + + + - + + + + diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 8553015..752062e 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -12,26 +12,38 @@ class LidarLocalization(Node): # inherit from Node def __init__(self): super().__init__('lidar_localization_node') - # Set the side (0 for blue and 1 for yellow); TODO: use param - side = 1 - if side == 0: - landmarks_map = [ - np.array([-0.094, 0.052]), - np.array([-0.094, 1.948]), - np.array([3.094, 1.0]) - ] - elif side == 1: - landmarks_map = [ - np.array([3.094, 0.052]), - np.array([3.094, 1.948]), - np.array([-0.094, 1.0]) - ] + + # Declare parameters + self.declare_parameter('side', 0) + self.declare_parameter('debug_mode', False) + self.declare_parameter('visualize_candidate', True) + self.declare_parameter('likelihood_threshold', 0.001) + self.declare_parameter('consistency_threshold', 0.9) + + # Get parameters + self.side = self.get_parameter('side').get_parameter_value().integer_value + self.debug_mode = self.get_parameter('debug_mode').get_parameter_value().bool_value + self.visualize_candidate = self.get_parameter('visualize_candidate').get_parameter_value().bool_value + self.likelihood_threshold = self.get_parameter('likelihood_threshold').get_parameter_value().double_value + self.consistency_threshold = self.get_parameter('consistency_threshold').get_parameter_value().double_value + + # Set the landmarks map based on the side + if self.side == 0: + self.landmarks_map = [ + np.array([-0.094, 0.052]), + np.array([-0.094, 1.948]), + np.array([3.094, 1.0]) + ] + elif self.side == 1: + self.landmarks_map = [ + np.array([3.094, 0.052]), + np.array([3.094, 1.948]), + np.array([-0.094, 1.0]) + ] + # set debug mode - self.debug_mode = False - self.visualize_candidate = True self.beacon_no = 0 - # ros settings self.lidar_pose_pub = self.create_publisher(PoseWithCovarianceStamped, 'lidar_pose', 10) if self.visualize_candidate: @@ -52,7 +64,6 @@ def __init__(self): # ros debug logger self.get_logger().debug('Lidar Localization Node has been initialized') - self.landmarks_map = landmarks_map self.init_landmarks_map(self.landmarks_map) self.robot_pose = [] self.P_pred = [] @@ -132,7 +143,6 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): S_det = np.linalg.det(S) normalizer = 1 / np.sqrt((2 * np.pi) ** 2 * S_det) - likelihood_threshold = 0.001 # Define a threshold for likelihood marker_id = 0 marker_array = MarkerArray() @@ -144,7 +154,7 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): likelihood = normalizer * np.exp(-0.5 * di_square) # normalize: max likelihood is for di_square = 0 likelihood = likelihood / normalizer - if likelihood > likelihood_threshold: + if likelihood > self.likelihood_threshold: obs_candidates.append({'position': obs, 'probability': likelihood}) if self.visualize_candidate and self.beacon_no == 1: marker = Marker() @@ -208,26 +218,6 @@ def get_landmarks_candidate(self, landmarks_map, obs_raw, robot_pose, P_pred, R) def get_landmarks_set(self, landmarks_candidate): landmarks_set = [] - # ## Permutations for two landmarks - # landmark_indices = list(range(len(landmarks_candidate))) # Generate all combinations of landmarks - # for comb in combinations(landmark_indices, 2): - # for i in range(len(landmarks_candidate[comb[0]]['obs_candidates'])): - # for j in range(len(landmarks_candidate[comb[1]]['obs_candidates'])): - # set = { - # 'beacons': { - # comb[0]: landmarks_candidate[comb[0]]['obs_candidates'][i]['position'], - # comb[1]: landmarks_candidate[comb[1]]['obs_candidates'][j]['position'] - # } - # } - # # consistency of the set - # set['consistency'] = self.get_geometry_consistency(set['beacons']) - # if set['consistency'] < 0.99: #TODO: tune the value - # self.get_logger().debug(f"Geometry consistency is less than 0.96: {set['consistency']}") - # continue - # # probability of the set - # set['probability_set'] = landmarks_candidate[comb[0]]['obs_candidates'][i]['probability'] * landmarks_candidate[comb[1]]['obs_candidates'][j]['probability'] - # landmarks_set.append(set) - ## Permutations for three landmarks for i in range(len(landmarks_candidate[0]['obs_candidates'])): for j in range(len(landmarks_candidate[1]['obs_candidates'])): for k in range(len(landmarks_candidate[2]['obs_candidates'])): @@ -240,8 +230,8 @@ def get_landmarks_set(self, landmarks_candidate): } # consistency of the set set['consistency'] = self.get_geometry_consistency(set['beacons']) - if set['consistency'] < 0.9: - self.get_logger().debug(f"Geometry consistency is less than 0.9: {set['consistency']}") + if set['consistency'] < self.consistency_threshold: + self.get_logger().debug(f"Geometry consistency is less than {self.consistency_threshold}: {set['consistency']}") continue # probability of the set set['probability_set'] = landmarks_candidate[0]['obs_candidates'][i]['probability'] * landmarks_candidate[1]['obs_candidates'][j]['probability'] * landmarks_candidate[2]['obs_candidates'][k]['probability'] diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py index aefdee3..9120541 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/setup.py +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -18,6 +18,8 @@ (os.path.join('share', package_name), ['package.xml']), # Include all launch files. (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))), + # Include all config files. + (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.yml'))), ], install_requires=[ 'setuptools', From 4f16511424b39e850ea8d9a094f7034d64485ee6 Mon Sep 17 00:00:00 2001 From: mac781 Date: Tue, 21 Jan 2025 13:00:14 +0800 Subject: [PATCH 039/184] Add angular_velocity --- .../local/imu/imu_drive/launch/imu_drive_firm.xml | 4 ++-- localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml b/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml index d7e15f4..0015644 100644 --- a/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml +++ b/localization-devel-ws/local/imu/imu_drive/launch/imu_drive_firm.xml @@ -17,8 +17,8 @@ - - + + diff --git a/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp b/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp index 7222807..b505932 100644 --- a/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp +++ b/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp @@ -30,10 +30,10 @@ void IMU::UpdateParams(){ p_publish_ = this->get_parameter("publish").get_value(); RCLCPP_INFO(this->get_logger(), "publish set to %d", p_publish_); - p_imu_sub_topic_ = "/imu/data_raw"; + p_imu_sub_topic_ = "sub_topic"; RCLCPP_INFO(this->get_logger(), "Current subscribe topic [ %s ]", p_imu_sub_topic_.c_str()); - p_imu_pub_topic_ = "/imu/data_cov"; + p_imu_pub_topic_ = "pub_topic"; RCLCPP_INFO(this->get_logger(), "Current publish topic [ %s ]", p_imu_pub_topic_.c_str()); p_covariance_ = this->get_parameter("covariance_vx").get_value(); @@ -87,7 +87,7 @@ void IMU::IMUdataCallback(const sensor_msgs::msg::Imu::ConstPtr &msg){ // from this->imu_output_.header.stamp = clock.now(); - this->imu_output_.orientation = msg->orientation; + this->imu_output_.angular_velocity = msg->angular_velocity; this->imu_output_.linear_acceleration = msg->linear_acceleration; From 13a44e4527a3b7e9b80a509f9d88d8a8521d9355 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 22 Jan 2025 13:41:01 +0800 Subject: [PATCH 040/184] Modify: ROS_DOMAIN_ID --- docker/local-ros2/docker-compose.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/local-ros2/docker-compose.yaml b/docker/local-ros2/docker-compose.yaml index 30394aa..a7ecdaf 100644 --- a/docker/local-ros2/docker-compose.yaml +++ b/docker/local-ros2/docker-compose.yaml @@ -24,7 +24,7 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - # - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=42 - ROS_WS=/home/user/localization-ws volumes: # Mount local timezone into container. ( Readonly ) From ee173c265f791f339f6fc675eb676e7d10db22e2 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 22 Jan 2025 13:41:45 +0800 Subject: [PATCH 041/184] Add: stable EKF_pkg --- localization-devel-ws/ekf/.gitignore | 1 + localization-devel-ws/ekf/LICENSE | 202 ++++++++++++++++++ localization-devel-ws/ekf/ekf/__init__.py | 0 localization-devel-ws/ekf/ekf/ekf_node.py | 185 ++++++++++++++++ localization-devel-ws/ekf/ekf/test_br.py | 69 ++++++ localization-devel-ws/ekf/package.xml | 26 +++ localization-devel-ws/ekf/resource/ekf | 0 localization-devel-ws/ekf/setup.cfg | 4 + localization-devel-ws/ekf/setup.py | 27 +++ .../ekf/test/test_copyright.py | 25 +++ localization-devel-ws/ekf/test/test_flake8.py | 25 +++ localization-devel-ws/ekf/test/test_pep257.py | 23 ++ 12 files changed, 587 insertions(+) create mode 100644 localization-devel-ws/ekf/.gitignore create mode 100644 localization-devel-ws/ekf/LICENSE create mode 100644 localization-devel-ws/ekf/ekf/__init__.py create mode 100644 localization-devel-ws/ekf/ekf/ekf_node.py create mode 100644 localization-devel-ws/ekf/ekf/test_br.py create mode 100644 localization-devel-ws/ekf/package.xml create mode 100644 localization-devel-ws/ekf/resource/ekf create mode 100644 localization-devel-ws/ekf/setup.cfg create mode 100644 localization-devel-ws/ekf/setup.py create mode 100644 localization-devel-ws/ekf/test/test_copyright.py create mode 100644 localization-devel-ws/ekf/test/test_flake8.py create mode 100644 localization-devel-ws/ekf/test/test_pep257.py diff --git a/localization-devel-ws/ekf/.gitignore b/localization-devel-ws/ekf/.gitignore new file mode 100644 index 0000000..0331f63 --- /dev/null +++ b/localization-devel-ws/ekf/.gitignore @@ -0,0 +1 @@ +baggy/ \ No newline at end of file diff --git a/localization-devel-ws/ekf/LICENSE b/localization-devel-ws/ekf/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/ekf/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/localization-devel-ws/ekf/ekf/__init__.py b/localization-devel-ws/ekf/ekf/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py new file mode 100644 index 0000000..c6e972f --- /dev/null +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -0,0 +1,185 @@ +#!/usr/bin/env python3 +import math +from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped +from nav_msgs.msg import Odometry +import numpy as np + +import rclpy +from rclpy.node import Node + +from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster + +def quaternion_from_euler(ai, aj, ak): + ai /= 2.0 + aj /= 2.0 + ak /= 2.0 + ci = math.cos(ai) + si = math.sin(ai) + cj = math.cos(aj) + sj = math.sin(aj) + ck = math.cos(ak) + sk = math.sin(ak) + cc = ci*ck + cs = ci*sk + sc = si*ck + ss = si*sk + + q = np.empty((4, )) + q[0] = cj*sc - sj*cs + q[1] = cj*ss + sj*cc + q[2] = cj*cs - sj*sc + q[3] = cj*cc + sj*ss + + return q + +def euler_from_quaternion(self, x, y, z, w): + t0 = +2.0 * (w * x + y * z) + t1 = +1.0 - 2.0 * (x * x + y * y) + roll_x = math.atan2(t0, t1) + + t2 = +2.0 * (w * y - z * x) + t2 = +1.0 if t2 > +1.0 else t2 + t2 = -1.0 if t2 < -1.0 else t2 + pitch_y = math.asin(t2) + + t3 = +2.0 * (w * z + x * y) + t4 = +1.0 - 2.0 * (y * y + z * z) + yaw_z = math.atan2(t3, t4) + + return yaw_z # in radians + +def normalize_angle(self, angle): + return atan2(sin(angle), cos(angle)) + +def is_invalid_data(self, x, y): + return np.isnan(x) or np.isnan(y) + +class EKFFootprintBroadcaster(Node): + def __init__(self): + super().__init__('ekf') + self.tf_static_broadcaster = StaticTransformBroadcaster(self) + + self.create_subscription(PoseWithCovarianceStamped, 'robot/lidar_bonbonbon', self.gps_callback, 10) + self.create_subscription(Odometry, 'robot/camera', self.camera_callback, 10) + self.create_subscription(Odometry, 'robot/local_filter', self.odom_callback, 10) + self.ekf_pose_publisher = self.create_publisher(Odometry, 'robot/final_pose', 10) + + self.declare_parameter('robot_parent_frame_id', 'robot/map') + self.declare_parameter('robot_frame_id', 'robot/base_footprint') + self.declare_parameter('update_rate', 100) + + self.parent_frame_id = self.get_parameter('robot_parent_frame_id').get_parameter_value().string_value + self.child_frame_id = self.get_parameter('robot_frame_id').get_parameter_value().string_value + self.rate = self.get_parameter('update_rate').get_parameter_value().integer_value + + self.X = np.array([0, 0, 0.0]) + self.P = np.eye(3) * 1e-3 + self.Q = np.eye(3) * 1e-3 + self.R_gps = np.eye(3) * 1e-2 + self.R_camera = np.eye(3) * 1e-2 + + self.last_odom = self.get_clock().now().nanoseconds / 1e9 + self.footprint_publish() + + def gps_callback(self, msg): + gps_time = msg.header.stamp.to_sec() + current_time = self.get_clock().now().nanoseconds / 1e9 + if abs(current_time - gps_time) >1.5: # GPS data too old + self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") + return + + if self.is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): + self.get_logger().info("Invalid GPS data received") + return + theta = euler_from_quaternion([msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w]) + gps_measurement = np.array([msg.pose.pose.position.x, msg.pose.pose.position.y, theta]) + R_gps[0] = msg.covariance[0] + R_gps[4] = msg.covariance[7] + R_gps[7] = msg.covariance[35] + self.ekf_update(gps_measurement, self.R_gps) + + def camera_callback(self, msg): + if is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): + logger = rclpy.logging.get_logger('logger') + logger.info('Invalid Camera data') + return + theta_Cam = euler_from_quaternion([msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w])[2] + camera_measurement = np.array([msg.pose.pose.position.x, msg.pose.pose.position.y, theta_Cam]) + self.ekf_update(camera_measurement, self.R_camera) + + def odom_callback(self, msg): + current_time = msg.header.stamp.to_sec() + dt = current_time - self.last_odom + self.last_odom = current_time + + delta_x = msg.twist.twist.linear.x * dt + delta_y = msg.twist.twist.linear.y * dt + delta_theta = msg.twist.twist.angular.z * dt + self.ekf_predict(delta_x, delta_y, delta_theta) + + def ekf_predict(self, delta_x, delta_y, delta_theta): + theta = self.X[2] + F = np.array([ + [1, 0, -delta_x * sin(theta) - delta_y * cos(theta)], + [0, 1, delta_x * cos(theta) - delta_y * sin(theta)], + [0, 0, 1] + ]) + + self.X[0] += delta_x * cos(theta) - delta_y * sin(theta) + self.X[1] += delta_x * sin(theta) + delta_y * cos(theta) + self.X[2] += delta_theta + self.X[2] = self.normalize_angle(self.X[2]) + + self.P = F @ self.P @ F.T + self.Q + self.footprint_publish() + + def ekf_update(self, z, R): + if np.any(np.isnan(z)): # Check if the measurement is valid + self.get_logger().warn("Invalid measurement data received.") + return + + H = np.eye(3) # Observation matrix + S = H @ self.P @ H.T + R + K = self.P @ H.T @ np.linalg.inv(S) + self.X += K @ (z - H @ self.X) + self.X[2] = self.normalize_angle(self.X[2]) + self.P = (np.eye(3) - K @ H) @ self.P + + def footprint_publish(self): + t = TransformStamped() + + t.header.stamp = self.get_clock().now().to_msg() + t.header.frame_id = self.get_parameter('robot_parent_frame_id').value + t.child_frame_id = self.get_parameter('robot_frame_id').value + + t.transform.translation.x = self.X[0] + t.transform.translation.y = self.X[1] + t.transform.translation.z = 0.0 + quat = quaternion_from_euler(0, 0, self.X[2]) + t.transform.rotation.x = quat[0] + t.transform.rotation.y = quat[1] + t.transform.rotation.z = quat[2] + t.transform.rotation.w = quat[3] + self.tf_static_broadcaster.sendTransform(t) + + final_pose = Odometry() + final_pose.header.stamp = self.get_clock().now().to_msg() + final_pose.header.frame_id = self.parent_frame_id + final_pose.pose.pose.position.x = self.X[0] + final_pose.pose.pose.position.y = self.X[1] + final_pose.pose.pose.position.z = 0.0 + final_pose.pose.pose.orientation.x = quat[0] + final_pose.pose.pose.orientation.y = quat[1] + final_pose.pose.pose.orientation.z = quat[2] + final_pose.pose.pose.orientation.w = quat[3] + self.ekf_pose_publisher.publish(final_pose) + +def main(args=None): + rclpy.init(args=args) + ekf = EKFFootprintBroadcaster() + rclpy.spin(ekf) # Keep the node running + rclpy.shutdown() # Shut down the ROS 2 client + +if __name__ == '__main__': + main() + diff --git a/localization-devel-ws/ekf/ekf/test_br.py b/localization-devel-ws/ekf/ekf/test_br.py new file mode 100644 index 0000000..a11d8a9 --- /dev/null +++ b/localization-devel-ws/ekf/ekf/test_br.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +import math +from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped +from nav_msgs.msg import Odometry +import numpy as np + +import rclpy +from rclpy.node import Node + +from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster +def quaternion_from_euler(ai, aj, ak): + ai /= 2.0 + aj /= 2.0 + ak /= 2.0 + ci = math.cos(ai) + si = math.sin(ai) + cj = math.cos(aj) + sj = math.sin(aj) + ck = math.cos(ak) + sk = math.sin(ak) + cc = ci*ck + cs = ci*sk + sc = si*ck + ss = si*sk + + q = np.empty((4, )) + q[0] = cj*sc - sj*cs + q[1] = cj*ss + sj*cc + q[2] = cj*cs - sj*sc + q[3] = cj*cc + sj*ss + + return q +class TestBroadcaster(Node): + def __init__(self): + super().__init__('ekf_br') + self.tf_static_broadcaster = StaticTransformBroadcaster(self) + + self.parent_frame_id = 'robot/map' + self.child_frame_id = 'robot/base_footprint' + + self.X = np.array([0.5, 0.4, 0.0]) + + self.ekf_pose = self.create_publisher(Odometry, 'final_pose', 10) + self.footprint_publish() + + def footprint_publish(self): + t = TransformStamped() + + t.header.stamp = self.get_clock().now().to_msg() + t.header.frame_id = self.parent_frame_id + t.child_frame_id = self.child_frame_id + t.transform.translation.x = self.X[0] + t.transform.translation.y = self.X[1] + t.transform.translation.z = 0.0 + quat = quaternion_from_euler(0, 0, self.X[2]) + t.transform.rotation.x = quat[0] + t.transform.rotation.y = quat[1] + t.transform.rotation.z = quat[2] + t.transform.rotation.w = quat[3] + self.tf_static_broadcaster.sendTransform(t) + +def main(args=None): + rclpy.init(args=args) + br = TestBroadcaster() + rclpy.spin(br) # Keep the node running + rclpy.shutdown() # Shut down the ROS 2 client + +if __name__ == '__main__': + main() diff --git a/localization-devel-ws/ekf/package.xml b/localization-devel-ws/ekf/package.xml new file mode 100644 index 0000000..6df660c --- /dev/null +++ b/localization-devel-ws/ekf/package.xml @@ -0,0 +1,26 @@ + + + + ekf + 0.0.0 + TODO: Package description + user + Apache-2.0 + + rclpy + std_msgs + nav_msgs + geometry_msgs + numpy + math + tf2 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/localization-devel-ws/ekf/resource/ekf b/localization-devel-ws/ekf/resource/ekf new file mode 100644 index 0000000..e69de29 diff --git a/localization-devel-ws/ekf/setup.cfg b/localization-devel-ws/ekf/setup.cfg new file mode 100644 index 0000000..10b4728 --- /dev/null +++ b/localization-devel-ws/ekf/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/ekf +[install] +install_scripts=$base/lib/ekf diff --git a/localization-devel-ws/ekf/setup.py b/localization-devel-ws/ekf/setup.py new file mode 100644 index 0000000..65e8f89 --- /dev/null +++ b/localization-devel-ws/ekf/setup.py @@ -0,0 +1,27 @@ +from setuptools import find_packages, setup + +package_name = 'ekf' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='user', + maintainer_email='zhen.cc.1207@gmail.com', + description='TODO: Package description', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'ekf_node = ekf.ekf_node:main', + 'test_br = ekf.test_br:main' + ], + }, +) diff --git a/localization-devel-ws/ekf/test/test_copyright.py b/localization-devel-ws/ekf/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/localization-devel-ws/ekf/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 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. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/localization-devel-ws/ekf/test/test_flake8.py b/localization-devel-ws/ekf/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/localization-devel-ws/ekf/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 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. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/localization-devel-ws/ekf/test/test_pep257.py b/localization-devel-ws/ekf/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/localization-devel-ws/ekf/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 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. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From 6faa947a48129a7577c69559f4f4ac90fad3207f Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 22 Jan 2025 18:46:10 +0800 Subject: [PATCH 042/184] Fix: wrong odom format --- localization-devel-ws/ekf/ekf/ekf_node.py | 192 ++++++++++-------- localization-devel-ws/ekf/ekf/fake_cam.py | 66 ++++++ .../ekf/launch/fake_cam.launch | 20 ++ localization-devel-ws/ekf/launch/real.launch | 16 ++ localization-devel-ws/ekf/setup.py | 6 +- 5 files changed, 210 insertions(+), 90 deletions(-) create mode 100644 localization-devel-ws/ekf/ekf/fake_cam.py create mode 100644 localization-devel-ws/ekf/launch/fake_cam.launch create mode 100644 localization-devel-ws/ekf/launch/real.launch diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index c6e972f..d542978 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import math -from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped +from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped, Twist from nav_msgs.msg import Odometry import numpy as np @@ -8,127 +8,141 @@ from rclpy.node import Node from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster - -def quaternion_from_euler(ai, aj, ak): - ai /= 2.0 - aj /= 2.0 - ak /= 2.0 - ci = math.cos(ai) - si = math.sin(ai) - cj = math.cos(aj) - sj = math.sin(aj) - ck = math.cos(ak) - sk = math.sin(ak) - cc = ci*ck - cs = ci*sk - sc = si*ck - ss = si*sk - - q = np.empty((4, )) - q[0] = cj*sc - sj*cs - q[1] = cj*ss + sj*cc - q[2] = cj*cs - sj*sc - q[3] = cj*cc + sj*ss - - return q - -def euler_from_quaternion(self, x, y, z, w): - t0 = +2.0 * (w * x + y * z) - t1 = +1.0 - 2.0 * (x * x + y * y) - roll_x = math.atan2(t0, t1) +from tf2_ros import TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener + +def quaternion_from_euler(roll, pitch, yaw): + roll, pitch, yaw = roll / 2.0, pitch / 2.0, yaw / 2.0 + cy, sy = math.cos(yaw), math.sin(yaw) + cp, sp = math.cos(pitch), math.sin(pitch) + cr, sr = math.cos(roll), math.sin(roll) + return [sr * cp * cy - cr * sp * sy, + cr * sp * cy + sr * cp * sy, + cr * cp * sy - sr * sp * cy, + cr * cp * cy + sr * sp * sy] + +def euler_from_quaternion(x, y, z, w): + t0, t1 = +2.0 * (w * x + y * z), +1.0 - 2.0 * (x * x + y * y) + roll = math.atan2(t0, t1) t2 = +2.0 * (w * y - z * x) - t2 = +1.0 if t2 > +1.0 else t2 - t2 = -1.0 if t2 < -1.0 else t2 - pitch_y = math.asin(t2) - - t3 = +2.0 * (w * z + x * y) - t4 = +1.0 - 2.0 * (y * y + z * z) - yaw_z = math.atan2(t3, t4) + t2 = +1.0 if t2 > +1.0 else -1.0 if t2 < -1.0 else t2 + pitch = math.asin(t2) - return yaw_z # in radians + t3, t4 = +2.0 * (w * z + x * y), +1.0 - 2.0 * (y * y + z * z) + yaw = math.atan2(t3, t4) + return yaw -def normalize_angle(self, angle): - return atan2(sin(angle), cos(angle)) +def normalize_angle(angle): + return math.atan2(math.sin(angle), math.cos(angle)) -def is_invalid_data(self, x, y): +def is_invalid_data(x, y): return np.isnan(x) or np.isnan(y) class EKFFootprintBroadcaster(Node): def __init__(self): super().__init__('ekf') - self.tf_static_broadcaster = StaticTransformBroadcaster(self) - - self.create_subscription(PoseWithCovarianceStamped, 'robot/lidar_bonbonbon', self.gps_callback, 10) - self.create_subscription(Odometry, 'robot/camera', self.camera_callback, 10) - self.create_subscription(Odometry, 'robot/local_filter', self.odom_callback, 10) - self.ekf_pose_publisher = self.create_publisher(Odometry, 'robot/final_pose', 10) - - self.declare_parameter('robot_parent_frame_id', 'robot/map') - self.declare_parameter('robot_frame_id', 'robot/base_footprint') - self.declare_parameter('update_rate', 100) + self.claim_parameters() - self.parent_frame_id = self.get_parameter('robot_parent_frame_id').get_parameter_value().string_value - self.child_frame_id = self.get_parameter('robot_frame_id').get_parameter_value().string_value - self.rate = self.get_parameter('update_rate').get_parameter_value().integer_value + self.tf_static_broadcaster = StaticTransformBroadcaster(self) + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) - self.X = np.array([0, 0, 0.0]) + self.X = np.array([0.0, 0.0, 0.0]) # State vector: x, y, theta self.P = np.eye(3) * 1e-3 self.Q = np.eye(3) * 1e-3 self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 - self.last_odom = self.get_clock().now().nanoseconds / 1e9 - self.footprint_publish() + self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 + + self.init_subscribers() + self.ekf_pose_publisher = self.create_publisher(Odometry, 'pred_pose', 10) + # self.create_timer(1.0 / self.rate, self.footprint_publish) + self.create_timer(0.2, self.camera_callback) + + def claim_parameters(self): + self.declare_parameter('robot_parent_frame_id', 'map') + self.declare_parameter('robot_frame_id', 'base_footprint') + self.declare_parameter('camera_frame_id', 'marker_6') + self.declare_parameter('camera_parent_id', 'map') + self.declare_parameter('update_rate', 50) + + self.parent_frame_id = self.get_parameter('robot_parent_frame_id').value + self.child_frame_id = self.get_parameter('robot_frame_id').value + self.camera_frame_id = self.get_parameter('camera_frame_id').value + self.camera_parent_id = self.get_parameter('camera_parent_id').value + self.rate = self.get_parameter('update_rate').value + + def init_subscribers(self): + self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) + self.create_subscription(Twist, 'odoo_googoogoo', self.odom_callback, 10) def gps_callback(self, msg): - gps_time = msg.header.stamp.to_sec() + gps_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 current_time = self.get_clock().now().nanoseconds / 1e9 - if abs(current_time - gps_time) >1.5: # GPS data too old + if abs(current_time - gps_time) > 1.5: # GPS data too old self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") return - if self.is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): + if is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): self.get_logger().info("Invalid GPS data received") return - theta = euler_from_quaternion([msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w]) + + theta = euler_from_quaternion( + msg.pose.pose.orientation.x, + msg.pose.pose.orientation.y, + msg.pose.pose.orientation.z, + msg.pose.pose.orientation.w + ) gps_measurement = np.array([msg.pose.pose.position.x, msg.pose.pose.position.y, theta]) - R_gps[0] = msg.covariance[0] - R_gps[4] = msg.covariance[7] - R_gps[7] = msg.covariance[35] + + self.R_gps[0, 0] = msg.pose.covariance[0] + self.R_gps[1, 1] = msg.pose.covariance[7] + self.R_gps[2, 2] = msg.pose.covariance[35] self.ekf_update(gps_measurement, self.R_gps) - def camera_callback(self, msg): - if is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): - logger = rclpy.logging.get_logger('logger') - logger.info('Invalid Camera data') - return - theta_Cam = euler_from_quaternion([msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w])[2] - camera_measurement = np.array([msg.pose.pose.position.x, msg.pose.pose.position.y, theta_Cam]) - self.ekf_update(camera_measurement, self.R_camera) + + def camera_callback(self): + now = self.get_clock().now().nanoseconds / 1e9 + self.get_logger().info(f"Camera callback triggered at: {now}") + try: + t = self.tf_buffer.lookup_transform( + self.camera_parent_id, + self.camera_frame_id, + rclpy.time.Time() + ) + trans = t.transform.translation + rot = t.transform.rotation + theta = euler_from_quaternion(rot.x, rot.y, rot.z, rot.w) + + camera_measurement = np.array([trans.x, trans.y, theta]) + self.get_logger().info(f"Camera transform: x={trans.x}, y={trans.y}, theta={theta}") + self.ekf_update(camera_measurement, self.R_camera) + except TransformException as ex: + self.get_logger().warn(f"TransformException in camera_callback: {ex}") def odom_callback(self, msg): - current_time = msg.header.stamp.to_sec() - dt = current_time - self.last_odom - self.last_odom = current_time + current_time = self.get_clock().now().nanoseconds / 1e9 + dt = current_time - self.last_odom_time + self.last_odom_time = current_time - delta_x = msg.twist.twist.linear.x * dt - delta_y = msg.twist.twist.linear.y * dt - delta_theta = msg.twist.twist.angular.z * dt + delta_x = msg.linear.x * dt + delta_y = msg.linear.y * dt + delta_theta = msg.angular.z * dt self.ekf_predict(delta_x, delta_y, delta_theta) def ekf_predict(self, delta_x, delta_y, delta_theta): theta = self.X[2] - F = np.array([ - [1, 0, -delta_x * sin(theta) - delta_y * cos(theta)], - [0, 1, delta_x * cos(theta) - delta_y * sin(theta)], - [0, 0, 1] - ]) - - self.X[0] += delta_x * cos(theta) - delta_y * sin(theta) - self.X[1] += delta_x * sin(theta) + delta_y * cos(theta) + F = np.eye(3) + F[0, 2] = -delta_x * math.sin(theta) - delta_y * math.cos(theta) + F[1, 2] = delta_x * math.cos(theta) - delta_y * math.sin(theta) + + self.X[0] += delta_x * math.cos(theta) - delta_y * math.sin(theta) + self.X[1] += delta_x * math.sin(theta) + delta_y * math.cos(theta) self.X[2] += delta_theta - self.X[2] = self.normalize_angle(self.X[2]) + self.X[2] = normalize_angle(self.X[2]) self.P = F @ self.P @ F.T + self.Q self.footprint_publish() @@ -142,15 +156,15 @@ def ekf_update(self, z, R): S = H @ self.P @ H.T + R K = self.P @ H.T @ np.linalg.inv(S) self.X += K @ (z - H @ self.X) - self.X[2] = self.normalize_angle(self.X[2]) + self.X[2] = normalize_angle(self.X[2]) self.P = (np.eye(3) - K @ H) @ self.P def footprint_publish(self): t = TransformStamped() t.header.stamp = self.get_clock().now().to_msg() - t.header.frame_id = self.get_parameter('robot_parent_frame_id').value - t.child_frame_id = self.get_parameter('robot_frame_id').value + t.header.frame_id = self.parent_frame_id + t.child_frame_id = self.child_frame_id t.transform.translation.x = self.X[0] t.transform.translation.y = self.X[1] diff --git a/localization-devel-ws/ekf/ekf/fake_cam.py b/localization-devel-ws/ekf/ekf/fake_cam.py new file mode 100644 index 0000000..ff75a1c --- /dev/null +++ b/localization-devel-ws/ekf/ekf/fake_cam.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +import rclpy +from rclpy.node import Node + +from nav_msgs.msg import Odometry +from builtin_interfaces.msg import Time + +class CameraPublisher(Node): + def __init__(self): + super().__init__('fake_cam_broadcast') + self.camera_publisher = self.create_publisher(Odometry, 'camera', 10) + self.get_logger().info("cam publisher init") + self.publish_camera() + + def publish_camera(self): + data_list = [ + {"time": 50.0, "position": (0.4806712233883248, 1.0932451234202643, 0), "orientation": (0, 0, 0.9999016629254438, -0.014023711310927924)}, + {"time": 50.5, "position": (0.4806712233883248, 1.0932451234202643, 0), "orientation": (0, 0, 0.9999016629254438, -0.014023711310927924)}, + {"time": 51, "position": (0.4806712233883248, 1.0932451234202643, 0), "orientation": (0, 0, 0.9999016629254438, -0.014023711310927924)}, + ] + + clock = self.get_clock() + start_time = clock.now().seconds_nanoseconds()[0] # Seconds since epoch + for data in data_list: + target_time = start_time + data["time"] + self.get_logger().info(f"Start time: {start_time}, Target time: {target_time}") + + current_time = clock.now().seconds_nanoseconds()[0] + delay = target_time - current_time + + if delay > 0: + self.get_logger().info(f"Sleeping for {delay} seconds to match target time") + self.create_timer(delay, lambda: None) + + odom_msg = Odometry() + odom_msg.header.stamp = Time(sec=int(target_time), nanosec=int((target_time % 1) * 1e9)) + odom_msg.header.frame_id = "robot/map" + + # Set position and orientation + odom_msg.pose.pose.position.x = data["position"][0] + odom_msg.pose.pose.position.y = data["position"][1] + odom_msg.pose.pose.position.z = data["position"][2] + odom_msg.pose.pose.orientation.x = data["orientation"][0] + odom_msg.pose.pose.orientation.y = data["orientation"][1] + odom_msg.pose.pose.orientation.z = data["orientation"][2] + odom_msg.pose.pose.orientation.w = data["orientation"][3] + + # Publish message + self.camera_pub.publish(odom_msg) + self.get_logger().info(f"Published camera data at target time {target_time}") + + self.get_logger().info("Finished publishing camera data") + +def main(args=None): + rclpy.init(args=args) + node = CameraPublisher() + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.get_logger().info("Node interrupted by user, shutting down.") + finally: + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/localization-devel-ws/ekf/launch/fake_cam.launch b/localization-devel-ws/ekf/launch/fake_cam.launch new file mode 100644 index 0000000..fd04253 --- /dev/null +++ b/localization-devel-ws/ekf/launch/fake_cam.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/ekf/launch/real.launch b/localization-devel-ws/ekf/launch/real.launch new file mode 100644 index 0000000..f3aa0b7 --- /dev/null +++ b/localization-devel-ws/ekf/launch/real.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/ekf/setup.py b/localization-devel-ws/ekf/setup.py index 65e8f89..de53e5a 100644 --- a/localization-devel-ws/ekf/setup.py +++ b/localization-devel-ws/ekf/setup.py @@ -1,3 +1,4 @@ +import os # Import os module from setuptools import find_packages, setup package_name = 'ekf' @@ -10,6 +11,8 @@ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), + ('share/' + package_name + '/launch', + ['launch/' + f for f in os.listdir('launch') if f.endswith('.launch')]) ], install_requires=['setuptools'], zip_safe=True, @@ -21,7 +24,8 @@ entry_points={ 'console_scripts': [ 'ekf_node = ekf.ekf_node:main', - 'test_br = ekf.test_br:main' + 'test_br = ekf.test_br:main', + 'fake_cam = ekf.fake_cam:main' ], }, ) From 1b2619455042bb3bbbe2f070e7ecbdc966edd62f Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 22 Jan 2025 18:47:32 +0800 Subject: [PATCH 043/184] Add: dds communication dep & env variable --- docker/local-ros2/Dockerfile | 1 + docker/local-ros2/docker-compose.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/docker/local-ros2/Dockerfile b/docker/local-ros2/Dockerfile index af33058..e779433 100644 --- a/docker/local-ros2/Dockerfile +++ b/docker/local-ros2/Dockerfile @@ -64,6 +64,7 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ # ros-humble-laser-geometry \ libsuitesparse-dev \ ros-humble-libg2o \ + ros-humble-rmw-cyclonedds-cpp\ # ros-humble-imu-tools \ libusb-1.0-0 libusb-1.0-0-dev -y && \ rm -rf /var/lib/apt/lists/* diff --git a/docker/local-ros2/docker-compose.yaml b/docker/local-ros2/docker-compose.yaml index a7ecdaf..4d7d689 100644 --- a/docker/local-ros2/docker-compose.yaml +++ b/docker/local-ros2/docker-compose.yaml @@ -26,6 +26,7 @@ services: # - ROS_LOCALHOST_ONLY=1 - ROS_DOMAIN_ID=42 - ROS_WS=/home/user/localization-ws + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp volumes: # Mount local timezone into container. ( Readonly ) # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container From 6067b4e817a0120adbb8b462ffb368229024a3f5 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 22 Jan 2025 21:48:02 +0800 Subject: [PATCH 044/184] Add: env variablez --- docker/local-ros2/OdomComm/docker/compose.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml index 3967c6a..acdb397 100644 --- a/docker/local-ros2/OdomComm/docker/compose.yml +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -81,7 +81,8 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - # - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=42 + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - ROS_WS=/home/user/localization-ws volumes: # Mount local timezone into container. ( Readonly ) From 6fdfc612d37f9d6422efeb15f6c1d2910ff066ed Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 22 Jan 2025 21:48:19 +0800 Subject: [PATCH 045/184] Modify: params --- localization-devel-ws/ekf/ekf/ekf_node.py | 12 +++++++----- .../launch/debug_visualize_launch.xml | 16 ++++++++-------- .../launch/obstacle_extractor_launch.xml | 2 +- .../launch/view_obstacles_launch.xml | 2 +- .../lidar_member_function.py | 2 +- 5 files changed, 18 insertions(+), 16 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index d542978..9eabe76 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -58,9 +58,10 @@ def __init__(self): self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 self.init_subscribers() - self.ekf_pose_publisher = self.create_publisher(Odometry, 'pred_pose', 10) + self.ekf_pose_publisher = self.create_publisher(Odometry, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) self.create_timer(0.2, self.camera_callback) + self.footprint_publish() def claim_parameters(self): self.declare_parameter('robot_parent_frame_id', 'map') @@ -128,9 +129,10 @@ def odom_callback(self, msg): dt = current_time - self.last_odom_time self.last_odom_time = current_time - delta_x = msg.linear.x * dt - delta_y = msg.linear.y * dt - delta_theta = msg.angular.z * dt + delta_x = msg.linear.x * dt /1e3 + delta_y = msg.linear.y * dt /1e3 + delta_theta = msg.angular.z * dt /1e3 + self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(delta_x, delta_y, delta_theta) def ekf_predict(self, delta_x, delta_y, delta_theta): @@ -143,7 +145,7 @@ def ekf_predict(self, delta_x, delta_y, delta_theta): self.X[1] += delta_x * math.sin(theta) + delta_y * math.cos(theta) self.X[2] += delta_theta self.X[2] = normalize_angle(self.X[2]) - + self.get_logger().info(f"predict-x{self.X[0]}") self.P = F @ self.P @ F.T + self.Q self.footprint_publish() diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml index 64d478c..88f7940 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml @@ -2,12 +2,12 @@ - - - - - - + + --> + + + + @@ -20,9 +20,9 @@ - + - + diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml index be7d668..6b717dc 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml @@ -24,7 +24,7 @@ - + diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml index 8fcd095..cb7747c 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml @@ -1,6 +1,6 @@ - + diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 752062e..0aa5a9e 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -55,7 +55,7 @@ def __init__(self): 10) self.subscription = self.create_subscription( PoseWithCovarianceStamped, - 'pred_pose', + 'final_pose', self.pred_pose_callback, 10 ) From a07011b0440ef7b97fb02fe9bdce512f163c783d Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 11:16:13 +0800 Subject: [PATCH 046/184] Add: predict_pose covarience --- localization-devel-ws/ekf/ekf/ekf_node.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 9eabe76..3172e32 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -188,6 +188,9 @@ def footprint_publish(self): final_pose.pose.pose.orientation.y = quat[1] final_pose.pose.pose.orientation.z = quat[2] final_pose.pose.pose.orientation.w = quat[3] + final_pose.covariance[0] = self.P[0, 0] + final_pose.covariance[1] = self.P[1, 1] + final_pose.covariance[2] = self.P[2,2] self.ekf_pose_publisher.publish(final_pose) def main(args=None): From 5e9946e84715086bc53bc8a1799568d6a64a6c8b Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 23 Jan 2025 11:25:44 +0800 Subject: [PATCH 047/184] Add: publish final pose covariance --- localization-devel-ws/ekf/ekf/ekf_node.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 3172e32..8077169 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -60,7 +60,7 @@ def __init__(self): self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(Odometry, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - self.create_timer(0.2, self.camera_callback) + # self.create_timer(0.2, self.camera_callback) self.footprint_publish() def claim_parameters(self): @@ -188,9 +188,9 @@ def footprint_publish(self): final_pose.pose.pose.orientation.y = quat[1] final_pose.pose.pose.orientation.z = quat[2] final_pose.pose.pose.orientation.w = quat[3] - final_pose.covariance[0] = self.P[0, 0] - final_pose.covariance[1] = self.P[1, 1] - final_pose.covariance[2] = self.P[2,2] + final_pose.pose.covariance[0] = self.P[0, 0] + final_pose.pose.covariance[1] = self.P[1, 1] + final_pose.pose.covariance[2] = self.P[2,2] self.ekf_pose_publisher.publish(final_pose) def main(args=None): From e6caa7df358fd1cb63967df24966f08bec3fe834 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 11:31:26 +0800 Subject: [PATCH 048/184] Add: initialpose sub --- localization-devel-ws/ekf/ekf/ekf_node.py | 29 ++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 8077169..3d95dea 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import math -from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped, Twist +from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped, Twist, PoseWithCovariance from nav_msgs.msg import Odometry import numpy as np @@ -79,6 +79,33 @@ def claim_parameters(self): def init_subscribers(self): self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) self.create_subscription(Twist, 'odoo_googoogoo', self.odom_callback, 10) + self.create_subscripition(PoseWithCovariance, 'initial_pose', self.init_callback,10) + + def init_callback(self, msg): + gps_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 + current_time = self.get_clock().now().nanoseconds / 1e9 + if abs(current_time - gps_time) > 1.5: # GPS data too old + self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") + return + + if is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): + self.get_logger().info("Invalid GPS data received") + return + + theta = euler_from_quaternion( + msg.pose.pose.orientation.x, + msg.pose.pose.orientation.y, + msg.pose.pose.orientation.z, + msg.pose.pose.orientation.w + ) + self.X[2] = theta + + self.P[0, 0] = msg.pose.covariance[0] + self.P[1, 1] = msg.pose.covariance[7] + self.P[2, 2] = msg.pose.covariance[35] + self.X[0] = msg.pose.position.x + self.X[1] = msg.pose.position.y + def gps_callback(self, msg): gps_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 From c12b6c676aedb6325bc4d4a7dda0d29becdb133f Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 11:32:51 +0800 Subject: [PATCH 049/184] Add: initialpose sub --- localization-devel-ws/ekf/ekf/ekf_node.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 3d95dea..79db657 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -56,12 +56,13 @@ def __init__(self): self.R_camera = np.eye(3) * 1e-2 self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 - + self.cnt = 0 self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(Odometry, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) # self.create_timer(0.2, self.camera_callback) self.footprint_publish() + def claim_parameters(self): self.declare_parameter('robot_parent_frame_id', 'map') @@ -98,13 +99,14 @@ def init_callback(self, msg): msg.pose.pose.orientation.z, msg.pose.pose.orientation.w ) - self.X[2] = theta - - self.P[0, 0] = msg.pose.covariance[0] - self.P[1, 1] = msg.pose.covariance[7] - self.P[2, 2] = msg.pose.covariance[35] - self.X[0] = msg.pose.position.x - self.X[1] = msg.pose.position.y + if self.cnt == 0: + self.X[2] = theta + + self.P[0, 0] = msg.pose.covariance[0] + self.P[1, 1] = msg.pose.covariance[7] + self.P[2, 2] = msg.pose.covariance[35] + self.X[0] = msg.pose.position.x + self.X[1] = msg.pose.position.y def gps_callback(self, msg): From 0523c016d507ff39258a29f6240011f21a46f7fd Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 23 Jan 2025 13:15:58 +0800 Subject: [PATCH 050/184] Modified: final pose msg type --- localization-devel-ws/ekf/ekf/ekf_node.py | 43 ++++++++----------- .../launch/debug_visualize_launch.xml | 2 +- 2 files changed, 19 insertions(+), 26 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 79db657..fa00ce6 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -58,7 +58,7 @@ def __init__(self): self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 self.cnt = 0 self.init_subscribers() - self.ekf_pose_publisher = self.create_publisher(Odometry, 'final_pose', 10) + self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) # self.create_timer(0.2, self.camera_callback) self.footprint_publish() @@ -80,44 +80,36 @@ def claim_parameters(self): def init_subscribers(self): self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) self.create_subscription(Twist, 'odoo_googoogoo', self.odom_callback, 10) - self.create_subscripition(PoseWithCovariance, 'initial_pose', self.init_callback,10) + self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) def init_callback(self, msg): - gps_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 - current_time = self.get_clock().now().nanoseconds / 1e9 - if abs(current_time - gps_time) > 1.5: # GPS data too old - self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") - return - - if is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): - self.get_logger().info("Invalid GPS data received") - return theta = euler_from_quaternion( - msg.pose.pose.orientation.x, - msg.pose.pose.orientation.y, - msg.pose.pose.orientation.z, - msg.pose.pose.orientation.w + msg.pose.orientation.x, + msg.pose.orientation.y, + msg.pose.orientation.z, + msg.pose.orientation.w ) if self.cnt == 0: self.X[2] = theta - self.P[0, 0] = msg.pose.covariance[0] - self.P[1, 1] = msg.pose.covariance[7] - self.P[2, 2] = msg.pose.covariance[35] + self.P[0, 0] = msg.covariance[0] + self.P[1, 1] = msg.covariance[7] + self.P[2, 2] = msg.covariance[35] self.X[0] = msg.pose.position.x self.X[1] = msg.pose.position.y + self.cnt += 1 def gps_callback(self, msg): gps_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 current_time = self.get_clock().now().nanoseconds / 1e9 if abs(current_time - gps_time) > 1.5: # GPS data too old - self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") + # self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") return if is_invalid_data(msg.pose.pose.position.x, msg.pose.pose.position.y): - self.get_logger().info("Invalid GPS data received") + # self.get_logger().info("Invalid GPS data received") return theta = euler_from_quaternion( @@ -136,7 +128,7 @@ def gps_callback(self, msg): def camera_callback(self): now = self.get_clock().now().nanoseconds / 1e9 - self.get_logger().info(f"Camera callback triggered at: {now}") + # self.get_logger().info(f"Camera callback triggered at: {now}") try: t = self.tf_buffer.lookup_transform( self.camera_parent_id, @@ -148,7 +140,7 @@ def camera_callback(self): theta = euler_from_quaternion(rot.x, rot.y, rot.z, rot.w) camera_measurement = np.array([trans.x, trans.y, theta]) - self.get_logger().info(f"Camera transform: x={trans.x}, y={trans.y}, theta={theta}") + # self.get_logger().info(f"Camera transform: x={trans.x}, y={trans.y}, theta={theta}") self.ekf_update(camera_measurement, self.R_camera) except TransformException as ex: self.get_logger().warn(f"TransformException in camera_callback: {ex}") @@ -161,7 +153,7 @@ def odom_callback(self, msg): delta_x = msg.linear.x * dt /1e3 delta_y = msg.linear.y * dt /1e3 delta_theta = msg.angular.z * dt /1e3 - self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") + # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(delta_x, delta_y, delta_theta) def ekf_predict(self, delta_x, delta_y, delta_theta): @@ -174,7 +166,7 @@ def ekf_predict(self, delta_x, delta_y, delta_theta): self.X[1] += delta_x * math.sin(theta) + delta_y * math.cos(theta) self.X[2] += delta_theta self.X[2] = normalize_angle(self.X[2]) - self.get_logger().info(f"predict-x{self.X[0]}") + # self.get_logger().info(f"predict-x{self.X[0]}") self.P = F @ self.P @ F.T + self.Q self.footprint_publish() @@ -207,7 +199,7 @@ def footprint_publish(self): t.transform.rotation.w = quat[3] self.tf_static_broadcaster.sendTransform(t) - final_pose = Odometry() + final_pose = PoseWithCovarianceStamped() final_pose.header.stamp = self.get_clock().now().to_msg() final_pose.header.frame_id = self.parent_frame_id final_pose.pose.pose.position.x = self.X[0] @@ -222,6 +214,7 @@ def footprint_publish(self): final_pose.pose.covariance[2] = self.P[2,2] self.ekf_pose_publisher.publish(final_pose) + def main(args=None): rclpy.init(args=args) ekf = EKFFootprintBroadcaster() diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml index 88f7940..ecc6e72 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/debug_visualize_launch.xml @@ -3,7 +3,7 @@ - --> + From 8098d170667761669ccde3e76ef7f5d19a63ac0a Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 13:19:06 +0800 Subject: [PATCH 051/184] Modified: gitignore bag/ --- localization-devel-ws/.gitignore | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/localization-devel-ws/.gitignore b/localization-devel-ws/.gitignore index a75df45..038b50f 100644 --- a/localization-devel-ws/.gitignore +++ b/localization-devel-ws/.gitignore @@ -1,2 +1,3 @@ # py cache -__pycache__/ \ No newline at end of file +__pycache__/ +bag/ \ No newline at end of file From 16fb103681e5a254d170f012e1959252e1196615 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 13:32:59 +0800 Subject: [PATCH 052/184] Modify: open cam subscriber --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index fa00ce6..cea05e4 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -60,7 +60,7 @@ def __init__(self): self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - # self.create_timer(0.2, self.camera_callback) + self.create_timer(0.2, self.camera_callback) self.footprint_publish() From 42bdede45d502f0a8a8c55d910aaae3414ce4374 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 21:16:10 +0800 Subject: [PATCH 053/184] Fix: horrible Covariance (split predict / update) --- localization-devel-ws/ekf/ekf/ekf_node.py | 37 ++++++++++++++--------- 1 file changed, 23 insertions(+), 14 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index cea05e4..2373b70 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -50,17 +50,19 @@ def __init__(self): self.tf_listener = TransformListener(self.tf_buffer, self) self.X = np.array([0.0, 0.0, 0.0]) # State vector: x, y, theta - self.P = np.eye(3) * 1e-3 + self.P_predict = np.eye(3) * 0.16 + self.P_update = np.eye(3) * 1e-2 self.Q = np.eye(3) * 1e-3 self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 + self.R_camera[2, 2] = 0.25 self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 self.cnt = 0 self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - self.create_timer(0.2, self.camera_callback) + self.create_timer(1, self.camera_callback) self.footprint_publish() @@ -92,10 +94,11 @@ def init_callback(self, msg): ) if self.cnt == 0: self.X[2] = theta - - self.P[0, 0] = msg.covariance[0] - self.P[1, 1] = msg.covariance[7] - self.P[2, 2] = msg.covariance[35] + if msg.covariance[0] > 0: + if msg.covariance[0] < 1: + self.P_predict[0, 0] = msg.covariance[0] + self.P_predict[1, 1] = msg.covariance[7] + self.P_predict[2, 2] = msg.covariance[35] self.X[0] = msg.pose.position.x self.X[1] = msg.pose.position.y self.cnt += 1 @@ -167,7 +170,10 @@ def ekf_predict(self, delta_x, delta_y, delta_theta): self.X[2] += delta_theta self.X[2] = normalize_angle(self.X[2]) # self.get_logger().info(f"predict-x{self.X[0]}") - self.P = F @ self.P @ F.T + self.Q + self.P_predict = F @ self.P_update @ F.T + self.Q + if (self.P_predict[0, 0] > 1) | (self.P_predict[1, 1] > 1 ) | (self.P_predict[2, 2] > 1) : + self.get_logger().warn(f"large Cov_pred:{self.P_predict[0, 0]},{self.P_predict[1, 1]},{self.P_predict[2, 2]}") + self.P_predict = np.eye(3) * 1e-2 self.footprint_publish() def ekf_update(self, z, R): @@ -176,12 +182,15 @@ def ekf_update(self, z, R): return H = np.eye(3) # Observation matrix - S = H @ self.P @ H.T + R - K = self.P @ H.T @ np.linalg.inv(S) + S = H @ self.P_predict @ H.T + R + K = self.P_predict @ H.T @ np.linalg.inv(S) self.X += K @ (z - H @ self.X) self.X[2] = normalize_angle(self.X[2]) - self.P = (np.eye(3) - K @ H) @ self.P - + self.P_update = (np.eye(3) - K @ H) @ self.P_predict + if (self.P_update[0] > 1) | (self.P_update[0] > 1 ) | (self.P_update[0] > 1) : + self.get_logger().warn(f"large Cov_update:{self.P_update[0, 0]},{self.P_update[1, 1]},{self.P_update[2, 2]}") + self.P_predict = np.eye(3) * 1e-2 + def footprint_publish(self): t = TransformStamped() @@ -209,9 +218,9 @@ def footprint_publish(self): final_pose.pose.pose.orientation.y = quat[1] final_pose.pose.pose.orientation.z = quat[2] final_pose.pose.pose.orientation.w = quat[3] - final_pose.pose.covariance[0] = self.P[0, 0] - final_pose.pose.covariance[1] = self.P[1, 1] - final_pose.pose.covariance[2] = self.P[2,2] + final_pose.pose.covariance[0] = self.P_predict[0, 0] + final_pose.pose.covariance[7] = self.P_predict[1, 1] + final_pose.pose.covariance[35] = self.P_predict[2, 2] self.ekf_pose_publisher.publish(final_pose) From 4550fd0a6065be80674c89388b95fd5323293eda Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 21:16:43 +0800 Subject: [PATCH 054/184] Add: ROS_DOMAIN variable --- docker/local-ros2/OdomComm/docker/compose.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml index acdb397..f0e23e0 100644 --- a/docker/local-ros2/OdomComm/docker/compose.yml +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -37,6 +37,9 @@ services: - /dev/dri:/dev/dri # Shared Memory - /dev/shm:/dev/shm + environment: + - ROS_DOMAIN_ID=42 + # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: image: jossiewang/eurobot2025-localization:ros1-serial From 73b1a9912b90ecf9cfd74fed566e8bbe52d2b22b Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 23 Jan 2025 23:02:54 +0800 Subject: [PATCH 055/184] Fix: wrong array position --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 2373b70..ec2a05f 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -187,7 +187,7 @@ def ekf_update(self, z, R): self.X += K @ (z - H @ self.X) self.X[2] = normalize_angle(self.X[2]) self.P_update = (np.eye(3) - K @ H) @ self.P_predict - if (self.P_update[0] > 1) | (self.P_update[0] > 1 ) | (self.P_update[0] > 1) : + if (self.P_update[0, 0] > 1) | (self.P_update[1, 1] > 1 ) | (self.P_update[2, 2] > 1) : self.get_logger().warn(f"large Cov_update:{self.P_update[0, 0]},{self.P_update[1, 1]},{self.P_update[2, 2]}") self.P_predict = np.eye(3) * 1e-2 From 75ba6ee85520beb25a06bd826c7560de780e745d Mon Sep 17 00:00:00 2001 From: robert Date: Tue, 28 Jan 2025 15:07:57 +0800 Subject: [PATCH 056/184] Update: local filter basic function of local filter, imu info not used --- .../local/imu/imu_drive/lib/imu_drive.cpp | 2 + .../local/local_filter/CMakeLists.txt | 6 ++- .../launch/local_filter_whole.xml | 10 ++--- .../local_filter/src/local_filter_LPF.cpp | 42 +++++++++++++------ localization-devel-ws/usb.sh | 4 +- 5 files changed, 45 insertions(+), 19 deletions(-) diff --git a/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp b/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp index 7222807..aa3ff35 100644 --- a/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp +++ b/localization-devel-ws/local/imu/imu_drive/lib/imu_drive.cpp @@ -91,6 +91,8 @@ void IMU::IMUdataCallback(const sensor_msgs::msg::Imu::ConstPtr &msg){ // from this->imu_output_.linear_acceleration = msg->linear_acceleration; + this->imu_output_.angular_velocity=msg->angular_velocity; /* */ + this->prev_angular_velocity = this->imu_output_.angular_velocity; if(this->p_publish_) diff --git a/localization-devel-ws/local/local_filter/CMakeLists.txt b/localization-devel-ws/local/local_filter/CMakeLists.txt index 77be67f..568d898 100644 --- a/localization-devel-ws/local/local_filter/CMakeLists.txt +++ b/localization-devel-ws/local/local_filter/CMakeLists.txt @@ -41,11 +41,15 @@ install(TARGETS install(DIRECTORY include - launch param DESTINATION include/${PROJECT_NAME} ) +install(DIRECTORY + launch + DESTINATION share/${PROJECT_NAME} +) + # install( # # TARGETS local_filter_LPF # EXPORT export_${PROJECT_NAME} diff --git a/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml b/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml index e6b7088..7f51c62 100644 --- a/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml +++ b/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml @@ -3,15 +3,15 @@ - - + + - - + + \ No newline at end of file diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index 8d2c986..e9ad196 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -40,7 +40,7 @@ class GlobalFilterNode { angular_cov_max_=nh_local_->get_parameter("angular_cov_max").as_double(); setpose_sub_ = nh_->create_subscription("initialpose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); - odom_sub_ = nh_->create_subscription("odom", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); + odom_sub_ = nh_->create_subscription("odoo_googoogoo", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); global_filter_pub_ = nh_->create_publisher("local_filter", 100); @@ -67,7 +67,7 @@ class GlobalFilterNode { d_state << (v_x * dt), (v_y * dt), (w * dt); - double theta_ = robotstate_.mu(2) + d_state(2) / 2; + double theta_ = robotstate_.mu(2) + d_state(2)/ 2; /* */ double s__theta = sin(theta_); double c__theta = cos(theta_); @@ -110,21 +110,39 @@ class GlobalFilterNode { robotstate_.sigma(2, 2) = pose_msg.pose.covariance[35]; // theta-theta } - void odomCallback(const nav_msgs::msg::Odometry & odom_msg) { + void odomCallback(const geometry_msgs::msg::Twist & odom_msg) { + // get pose data /* */ + // robotstate_.mu(0)=odom_msg.angular.x; /* */ + // robotstate_.mu(1)=odom_msg.angular.y; /* */ + // robotstate_.mu(2)=odom_msg.linear.z; /* */ // get velocity data - twist_x_ = odom_msg.twist.twist.linear.x; - twist_y_ = odom_msg.twist.twist.linear.y; + // twist_x_ = odom_msg.linear.x; + // twist_y_ = odom_msg.linear.y; // Apply low-pass filter to linear xy from odom - linear_x_ = alpha_x * odom_msg.twist.twist.linear.x + (1 - alpha_x) * linear_x_; - linear_y_ = alpha_y * odom_msg.twist.twist.linear.y + (1 - alpha_y) * linear_y_; - linear_x_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[0]); - linear_y_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[7]); + linear_x_ = alpha_x * odom_msg.linear.x + (1 - alpha_x) * linear_x_; + linear_y_ = alpha_y * odom_msg.linear.y + (1 - alpha_y) * linear_y_; + // double alpha=alpha_x; + angular_z_=odom_msg.angular.z; + // if(odom_msg.linear.x>1000.0||odom_msg.linear.y>1000.0) alpha=0.6; /* */ + // linear_x_ = alpha * odom_msg.linear.x + (1 - alpha) * linear_x_; /* */ + // linear_y_ = alpha * odom_msg.linear.y + (1 - alpha) * linear_y_; /* */ + // linear_x_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[0]); + // linear_y_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[7]); + rclcpp::Clock clock; /* */ + rclcpp::Time now=clock.now(); /* */ + double dt=now.seconds()-prev_stamp_.seconds(); /* */ + // RCLCPP_INFO(rclcpp::get_logger("local_filter_LPF"), "dt=%f", dt); /* */ + omni_model(linear_x_, linear_y_, angular_z_, dt); /* */ + prev_stamp_=now; /* */ } void imuCallback(const sensor_msgs::msg::Imu & imu_msg) { - angular_z_ = imu_msg.angular_velocity.z; + // angular_z_ = imu_msg.angular_velocity.z; + // rclcpp::Time stamp=imu_msg.header.stamp; /* */ + // double dt=stamp.seconds()-prev_stamp_.seconds(); /* */ + // omni_model(linear_x_, linear_y_, angular_z_, dt); /* */ local_filter_pub(imu_msg.header.stamp, std::min(angular_cov_max_, imu_msg.angular_velocity_covariance[8])); //cov_max - prev_stamp_ = imu_msg.header.stamp; + // prev_stamp_ = imu_msg.header.stamp; } void local_filter_pub(rclcpp::Time stamp, double imu_cov) @@ -167,7 +185,7 @@ class GlobalFilterNode { private: std::shared_ptr nh_; std::shared_ptr nh_local_; - rclcpp::Subscription::SharedPtr odom_sub_; + rclcpp::Subscription::SharedPtr odom_sub_; rclcpp::Subscription::SharedPtr imu_sub_; rclcpp::Subscription::SharedPtr setpose_sub_; rclcpp::Publisher::SharedPtr global_filter_pub_; diff --git a/localization-devel-ws/usb.sh b/localization-devel-ws/usb.sh index b508089..e8723c8 100755 --- a/localization-devel-ws/usb.sh +++ b/localization-devel-ws/usb.sh @@ -27,10 +27,12 @@ else ls -l $DEVICE_PATH # IMU udev rules - PACKAGES_PATH=/home/user/localization-ws-ros1/src + PACKAGES_PATH=/home/user/localization-ws/src sudo /lib/systemd/systemd-udevd --daemon cd $PACKAGES_PATH/phidgets_drivers/phidgets_api sudo cp debian/udev /etc/udev/rules.d/99-phidgets.rules + sudo udevadm control --reload-rules + fi # RPLiDAR port From 04a28762ab78e3fba095c219aa073d276dc80312 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 6 Feb 2025 21:14:46 +0800 Subject: [PATCH 057/184] Modified: process cov(Q) --- localization-devel-ws/ekf/ekf/ekf_node.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index ec2a05f..4002f6b 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -52,10 +52,11 @@ def __init__(self): self.X = np.array([0.0, 0.0, 0.0]) # State vector: x, y, theta self.P_predict = np.eye(3) * 0.16 self.P_update = np.eye(3) * 1e-2 - self.Q = np.eye(3) * 1e-3 + self.Q = np.eye(3) * 5 * 1e-11 + self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 - self.R_camera[2, 2] = 0.25 + self.R_camera[2, 2] = 9 self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 self.cnt = 0 From c6c8cb3e26f2e7ff07a081ed31480a063b7f3d03 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Thu, 6 Feb 2025 21:15:15 +0800 Subject: [PATCH 058/184] Add: lidar W/ ns --- localization-devel-ws/ekf/launch/rplidar_ns.launch | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 localization-devel-ws/ekf/launch/rplidar_ns.launch diff --git a/localization-devel-ws/ekf/launch/rplidar_ns.launch b/localization-devel-ws/ekf/launch/rplidar_ns.launch new file mode 100644 index 0000000..e016718 --- /dev/null +++ b/localization-devel-ws/ekf/launch/rplidar_ns.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + \ No newline at end of file From 297f753343a95411a9f6631fdfd8f96e6270fb02 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 7 Feb 2025 11:04:39 +0800 Subject: [PATCH 059/184] Modified: (Env) ros2-dev service name & ignored - we can use another service along with that composed up with the OdommComm, - so that we don't need to rebuild everytime the USB is robbed or forced to unplug --- .gitignore | 14 +++++++ docker/local-ros2/docker-compose.yaml | 2 +- localization-devel-ws/.gitignore | 3 -- simulation-ws/.gitignore | 55 --------------------------- 4 files changed, 15 insertions(+), 59 deletions(-) create mode 100644 .gitignore delete mode 100644 localization-devel-ws/.gitignore delete mode 100644 simulation-ws/.gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a10bd71 --- /dev/null +++ b/.gitignore @@ -0,0 +1,14 @@ +*.vscode +bag/ + +# ROS # +####### +build/ +install/ +log/ + +# Python # +########## +*.pyc +*.pyo +__pycache__/ \ No newline at end of file diff --git a/docker/local-ros2/docker-compose.yaml b/docker/local-ros2/docker-compose.yaml index 4d7d689..8e6fe30 100644 --- a/docker/local-ros2/docker-compose.yaml +++ b/docker/local-ros2/docker-compose.yaml @@ -1,6 +1,6 @@ version: '3' services: - ros2-localization-dev: + noComm-ros2-localization-dev: build: context: . dockerfile: Dockerfile diff --git a/localization-devel-ws/.gitignore b/localization-devel-ws/.gitignore deleted file mode 100644 index 038b50f..0000000 --- a/localization-devel-ws/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -# py cache -__pycache__/ -bag/ \ No newline at end of file diff --git a/simulation-ws/.gitignore b/simulation-ws/.gitignore deleted file mode 100644 index 7831216..0000000 --- a/simulation-ws/.gitignore +++ /dev/null @@ -1,55 +0,0 @@ -# Compiled source # -################### -*.com -*.class -*.dll -*.exe -*.o -*.so - -# Packages # -############ -*.7z -*.dmg -*.gz -*.iso -*.jar -*.rar -*.tar -*.zip - -# Logs and databases # -###################### -*.log -*.sql -*.sqlite - -# OS generated files # -###################### -.DS_Store -Thumbs.db - -# Python # -########## -*.pyc -*.pyo -__pycache__/ - -# Virtual environments # -######################## -venv/ -env/ - -# Node.js # -########### -node_modules/ - -# ROS # -####### -build/ -install/ -log/ - -# vscode # -########## -.vscode/ \ No newline at end of file From f315cfc5f70d047166a194ea7e480ae7804a5d49 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Fri, 7 Feb 2025 14:00:17 +0800 Subject: [PATCH 060/184] Add: bag recording launch --- localization-devel-ws/record.launch | 9 +++++++++ 1 file changed, 9 insertions(+) create mode 100644 localization-devel-ws/record.launch diff --git a/localization-devel-ws/record.launch b/localization-devel-ws/record.launch new file mode 100644 index 0000000..34937df --- /dev/null +++ b/localization-devel-ws/record.launch @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file From 01cfa355747f126101caa877d4c176d2746d99c9 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Fri, 7 Feb 2025 14:03:38 +0800 Subject: [PATCH 061/184] Modify: cov --- localization-devel-ws/ekf/ekf/ekf_node.py | 58 +++++++++++------------ 1 file changed, 29 insertions(+), 29 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 4002f6b..625879f 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -48,10 +48,11 @@ def __init__(self): self.tf_static_broadcaster = StaticTransformBroadcaster(self) self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) + self.final_pose = PoseWithCovarianceStamped() + self.final_pose.header.frame_id = self.parent_frame_id self.X = np.array([0.0, 0.0, 0.0]) # State vector: x, y, theta - self.P_predict = np.eye(3) * 0.16 - self.P_update = np.eye(3) * 1e-2 + self.P = np.eye(3) * 1e-2 self.Q = np.eye(3) * 5 * 1e-11 self.R_gps = np.eye(3) * 1e-2 @@ -64,6 +65,7 @@ def __init__(self): self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) self.create_timer(1, self.camera_callback) + self.footprint_publish() @@ -97,9 +99,9 @@ def init_callback(self, msg): self.X[2] = theta if msg.covariance[0] > 0: if msg.covariance[0] < 1: - self.P_predict[0, 0] = msg.covariance[0] - self.P_predict[1, 1] = msg.covariance[7] - self.P_predict[2, 2] = msg.covariance[35] + self.P[0, 0] = msg.covariance[0] + self.P[1, 1] = msg.covariance[7] + self.P[2, 2] = msg.covariance[35] self.X[0] = msg.pose.position.x self.X[1] = msg.pose.position.y self.cnt += 1 @@ -171,10 +173,10 @@ def ekf_predict(self, delta_x, delta_y, delta_theta): self.X[2] += delta_theta self.X[2] = normalize_angle(self.X[2]) # self.get_logger().info(f"predict-x{self.X[0]}") - self.P_predict = F @ self.P_update @ F.T + self.Q - if (self.P_predict[0, 0] > 1) | (self.P_predict[1, 1] > 1 ) | (self.P_predict[2, 2] > 1) : - self.get_logger().warn(f"large Cov_pred:{self.P_predict[0, 0]},{self.P_predict[1, 1]},{self.P_predict[2, 2]}") - self.P_predict = np.eye(3) * 1e-2 + self.P = F @ self.P @ F.T + self.Q + if (self.P[0, 0] > 1) | (self.P[1, 1] > 1 ) | (self.P[2, 2] > 1) : + self.get_logger().warn(f"large Cov_pred:{self.P[0, 0]},{self.P[1, 1]},{self.P[2, 2]}") + self.P = np.eye(3) * 1e-2 self.footprint_publish() def ekf_update(self, z, R): @@ -183,14 +185,14 @@ def ekf_update(self, z, R): return H = np.eye(3) # Observation matrix - S = H @ self.P_predict @ H.T + R - K = self.P_predict @ H.T @ np.linalg.inv(S) + S = H @ self.P @ H.T + R + K = self.P @ H.T @ np.linalg.inv(S) self.X += K @ (z - H @ self.X) self.X[2] = normalize_angle(self.X[2]) - self.P_update = (np.eye(3) - K @ H) @ self.P_predict - if (self.P_update[0, 0] > 1) | (self.P_update[1, 1] > 1 ) | (self.P_update[2, 2] > 1) : - self.get_logger().warn(f"large Cov_update:{self.P_update[0, 0]},{self.P_update[1, 1]},{self.P_update[2, 2]}") - self.P_predict = np.eye(3) * 1e-2 + self.P = (np.eye(3) - K @ H) @ self.P + if (self.P[0, 0] > 1) | (self.P[1, 1] > 1 ) | (self.P[2, 2] > 1) : + self.get_logger().warn(f"large Cov_update:{self.P[0, 0]},{self.P[1, 1]},{self.P[2, 2]}") + self.P = np.eye(3) * 1e-2 def footprint_publish(self): t = TransformStamped() @@ -209,20 +211,18 @@ def footprint_publish(self): t.transform.rotation.w = quat[3] self.tf_static_broadcaster.sendTransform(t) - final_pose = PoseWithCovarianceStamped() - final_pose.header.stamp = self.get_clock().now().to_msg() - final_pose.header.frame_id = self.parent_frame_id - final_pose.pose.pose.position.x = self.X[0] - final_pose.pose.pose.position.y = self.X[1] - final_pose.pose.pose.position.z = 0.0 - final_pose.pose.pose.orientation.x = quat[0] - final_pose.pose.pose.orientation.y = quat[1] - final_pose.pose.pose.orientation.z = quat[2] - final_pose.pose.pose.orientation.w = quat[3] - final_pose.pose.covariance[0] = self.P_predict[0, 0] - final_pose.pose.covariance[7] = self.P_predict[1, 1] - final_pose.pose.covariance[35] = self.P_predict[2, 2] - self.ekf_pose_publisher.publish(final_pose) + self.final_pose.header.stamp = self.get_clock().now().to_msg() + self.final_pose.pose.pose.position.x = self.X[0] + self.final_pose.pose.pose.position.y = self.X[1] + self.final_pose.pose.pose.position.z = 0.0 + self.final_pose.pose.pose.orientation.x = quat[0] + self.final_pose.pose.pose.orientation.y = quat[1] + self.final_pose.pose.pose.orientation.z = quat[2] + self.final_pose.pose.pose.orientation.w = quat[3] + self.final_pose.pose.covariance[0] = self.P[0, 0] + self.final_pose.pose.covariance[7] = self.P[1, 1] + self.final_pose.pose.covariance[35] = self.P[2, 2] + self.ekf_pose_publisher.publish(self.final_pose) def main(args=None): From bcdc93128b69e216d2b13ba2eccab6ab8b5a75c0 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Fri, 7 Feb 2025 15:10:33 +0800 Subject: [PATCH 062/184] Add: test launch file --- .../ekf/launch/bagplay.launch | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 localization-devel-ws/ekf/launch/bagplay.launch diff --git a/localization-devel-ws/ekf/launch/bagplay.launch b/localization-devel-ws/ekf/launch/bagplay.launch new file mode 100644 index 0000000..63c5400 --- /dev/null +++ b/localization-devel-ws/ekf/launch/bagplay.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 5a6cb9bda342348f6f557e2d940d7a14ba7d7966 Mon Sep 17 00:00:00 2001 From: robert Date: Sat, 8 Feb 2025 15:15:23 +0800 Subject: [PATCH 063/184] Feat: Load odometry covariance Reason: decrease potential time delay between node communication --- .../param/local_filter_whole.yaml | 4 +- .../local_filter/src/local_filter_LPF.cpp | 53 ++++++++++++++----- 2 files changed, 43 insertions(+), 14 deletions(-) diff --git a/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml b/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml index 0ec0294..0f870b5 100644 --- a/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml +++ b/localization-devel-ws/local/local_filter/param/local_filter_whole.yaml @@ -6,9 +6,9 @@ rosserial_server_dp: port: "/dev/USB0-3" # not used? # --------------------------- -# ------ Odometry ndoe ------ +# ------ Local filter ndoe ------ # --------------------------- -odometry_node: +local_filter_LPF: ros__parameters: # Active this node active: true diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index e9ad196..bbfa2f7 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -30,15 +30,41 @@ class GlobalFilterNode { angular_z_ = 0.0; nh_local_->declare_parameter("LPF_alpha_x", 0.5); // filter coefficient - nh_local_->declare_parameter("LPF_alpha_y", 0.5); // filter coefficient - nh_local_->declare_parameter("linear_cov_max", 0.1); - nh_local_->declare_parameter("angular_cov_max", 0.05); - alpha_x=nh_local_->get_parameter("LPF_alpha_x").as_double(); + + nh_local_->declare_parameter("LPF_alpha_y", 0.5); // filter coefficient alpha_y=nh_local_->get_parameter("LPF_alpha_y").as_double(); + + nh_local_->declare_parameter("linear_cov_max", 0.1); linear_cov_max_=nh_local_->get_parameter("linear_cov_max").as_double(); + + nh_local_->declare_parameter("angular_cov_max", 0.05); angular_cov_max_=nh_local_->get_parameter("angular_cov_max").as_double(); + for(int i=0;i<3;i++){ + std::string str; + switch(i){ + case 0: str="vx"; break; + case 1: str="vy"; break; + case 2: str="vz"; break; + default: break; + } + nh_local_->declare_parameter("covariance_"+str, 0.); + cov_backup_[i]=nh_local_->get_parameter("covariance_"+str).as_double(); + } + + for(int i=0;i<3;i++){ + std::string str; + switch(i){ + case 1: str="vx"; break; + case 2: str="vy"; break; + case 3: str="vz"; break; + default: break; + } + nh_local_->declare_parameter("covariance_multi_"+str, 0.); + cov_multi_[i]=nh_local_->get_parameter("covariance_multi_"+str).as_double(); + } + setpose_sub_ = nh_->create_subscription("initialpose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); odom_sub_ = nh_->create_subscription("odoo_googoogoo", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); @@ -111,23 +137,24 @@ class GlobalFilterNode { } void odomCallback(const geometry_msgs::msg::Twist & odom_msg) { - // get pose data /* */ - // robotstate_.mu(0)=odom_msg.angular.x; /* */ - // robotstate_.mu(1)=odom_msg.angular.y; /* */ - // robotstate_.mu(2)=odom_msg.linear.z; /* */ // get velocity data // twist_x_ = odom_msg.linear.x; // twist_y_ = odom_msg.linear.y; // Apply low-pass filter to linear xy from odom linear_x_ = alpha_x * odom_msg.linear.x + (1 - alpha_x) * linear_x_; linear_y_ = alpha_y * odom_msg.linear.y + (1 - alpha_y) * linear_y_; - // double alpha=alpha_x; angular_z_=odom_msg.angular.z; - // if(odom_msg.linear.x>1000.0||odom_msg.linear.y>1000.0) alpha=0.6; /* */ - // linear_x_ = alpha * odom_msg.linear.x + (1 - alpha) * linear_x_; /* */ - // linear_y_ = alpha * odom_msg.linear.y + (1 - alpha) * linear_y_; /* */ // linear_x_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[0]); // linear_y_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[7]); + double cov_multi[3]; + cov_multi[0]=cov_multi_[0]*abs(odom_msg.linear.x); + cov_multi[1]=cov_multi_[1]*abs(odom_msg.linear.y); + cov_multi[2]=cov_multi_[2]*abs(odom_msg.angular.z); + linear_x_cov_=std::min(linear_cov_max_, std::max(1e-8, cov_multi[0]+cov_backup_[0])); + linear_y_cov_=std::min(linear_cov_max_, std::max(1e-8, cov_multi[1]+cov_backup_[1])); + cov_backup_[0]=linear_x_cov_; + cov_backup_[1]=linear_y_cov_; + rclcpp::Clock clock; /* */ rclcpp::Time now=clock.now(); /* */ double dt=now.seconds()-prev_stamp_.seconds(); /* */ @@ -193,6 +220,8 @@ class GlobalFilterNode { //raw double twist_x_; double twist_y_; + double cov_backup_[3]; + double cov_multi_[3]; //filtered double alpha_x; // filter coefficient double alpha_y; // filter coefficient From c113c1ca63187f7bfde7471650d6bb87798e8b5e Mon Sep 17 00:00:00 2001 From: jossiewang Date: Sun, 9 Feb 2025 21:08:03 +0800 Subject: [PATCH 064/184] Modified: (Env) standalone container name --- docker/local-ros2/docker-compose.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/local-ros2/docker-compose.yaml b/docker/local-ros2/docker-compose.yaml index 8e6fe30..8ca2e13 100644 --- a/docker/local-ros2/docker-compose.yaml +++ b/docker/local-ros2/docker-compose.yaml @@ -7,7 +7,7 @@ services: args: USERNAME: user image: jossiewang/eurobot2025-localization:local-ros2-wSensors - container_name: localization-2025-dev-ros2 + container_name: noComm-localization-2025-dev-ros2 stdin_open: true tty: true privileged: true From f57f2c3b2fa0324f097bccb7e01b76879d4900e2 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Sun, 9 Feb 2025 21:11:27 +0800 Subject: [PATCH 065/184] Modified: (Tool) do not split record --- localization-devel-ws/record.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/record.launch b/localization-devel-ws/record.launch index 34937df..967801a 100644 --- a/localization-devel-ws/record.launch +++ b/localization-devel-ws/record.launch @@ -5,5 +5,5 @@ - + \ No newline at end of file From d3897a11e3eb729e8f78b91ae9e08da44e9576c3 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Sun, 9 Feb 2025 21:39:41 +0800 Subject: [PATCH 066/184] Add: (TOOL) launch for play and record tests --- .../ekf/launch/bag_test.launch | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 localization-devel-ws/ekf/launch/bag_test.launch diff --git a/localization-devel-ws/ekf/launch/bag_test.launch b/localization-devel-ws/ekf/launch/bag_test.launch new file mode 100644 index 0000000..b46d4b6 --- /dev/null +++ b/localization-devel-ws/ekf/launch/bag_test.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 33bb83250f95b8f79f63a14a4d589070857b4aa4 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Mon, 10 Feb 2025 10:49:42 +0800 Subject: [PATCH 067/184] Fix: (TOOL) bag_test, rm topic args --- localization-devel-ws/ekf/launch/bag_test.launch | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/localization-devel-ws/ekf/launch/bag_test.launch b/localization-devel-ws/ekf/launch/bag_test.launch index b46d4b6..e883193 100644 --- a/localization-devel-ws/ekf/launch/bag_test.launch +++ b/localization-devel-ws/ekf/launch/bag_test.launch @@ -9,16 +9,12 @@ - - - - - - + + From 7dfef978441eac9c61b21dc1cfeeea8f87f19206 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 11:27:26 +0800 Subject: [PATCH 068/184] Modify: unit of angularr integration --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- .../ekf/launch/bagplay.launch | 33 ------------------- 2 files changed, 1 insertion(+), 34 deletions(-) delete mode 100644 localization-devel-ws/ekf/launch/bagplay.launch diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 625879f..5ec69b1 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -158,7 +158,7 @@ def odom_callback(self, msg): delta_x = msg.linear.x * dt /1e3 delta_y = msg.linear.y * dt /1e3 - delta_theta = msg.angular.z * dt /1e3 + delta_theta = msg.angular.z * dt # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(delta_x, delta_y, delta_theta) diff --git a/localization-devel-ws/ekf/launch/bagplay.launch b/localization-devel-ws/ekf/launch/bagplay.launch deleted file mode 100644 index 63c5400..0000000 --- a/localization-devel-ws/ekf/launch/bagplay.launch +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file From 2dc22c541ce71b10f4ee307aae896e2651647814 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 11:28:40 +0800 Subject: [PATCH 069/184] Revert "Modify: unit of angularr integration" This reverts commit 7dfef978441eac9c61b21dc1cfeeea8f87f19206. --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- .../ekf/launch/bagplay.launch | 33 +++++++++++++++++++ 2 files changed, 34 insertions(+), 1 deletion(-) create mode 100644 localization-devel-ws/ekf/launch/bagplay.launch diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 5ec69b1..625879f 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -158,7 +158,7 @@ def odom_callback(self, msg): delta_x = msg.linear.x * dt /1e3 delta_y = msg.linear.y * dt /1e3 - delta_theta = msg.angular.z * dt + delta_theta = msg.angular.z * dt /1e3 # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(delta_x, delta_y, delta_theta) diff --git a/localization-devel-ws/ekf/launch/bagplay.launch b/localization-devel-ws/ekf/launch/bagplay.launch new file mode 100644 index 0000000..63c5400 --- /dev/null +++ b/localization-devel-ws/ekf/launch/bagplay.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 6f70addef2b831da8172b0cb01601a7ea8f74427 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 11:30:28 +0800 Subject: [PATCH 070/184] Modify: unit of angularr integration --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 625879f..5ec69b1 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -158,7 +158,7 @@ def odom_callback(self, msg): delta_x = msg.linear.x * dt /1e3 delta_y = msg.linear.y * dt /1e3 - delta_theta = msg.angular.z * dt /1e3 + delta_theta = msg.angular.z * dt # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(delta_x, delta_y, delta_theta) From afccffd8d7a21556dfe035323eeaee92374db93b Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 12:55:50 +0800 Subject: [PATCH 071/184] Modify: F-array --- localization-devel-ws/ekf/ekf/ekf_node.py | 87 ++++++++++--------- .../ekf/launch/bagplay.launch | 33 ------- 2 files changed, 47 insertions(+), 73 deletions(-) delete mode 100644 localization-devel-ws/ekf/launch/bagplay.launch diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 5ec69b1..a57a331 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -51,16 +51,18 @@ def __init__(self): self.final_pose = PoseWithCovarianceStamped() self.final_pose.header.frame_id = self.parent_frame_id - self.X = np.array([0.0, 0.0, 0.0]) # State vector: x, y, theta - self.P = np.eye(3) * 1e-2 - self.Q = np.eye(3) * 5 * 1e-11 + self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w + self.P = np.eye(6) * 1e-2 + self.P[5, 5] = 1 + + self.Q = np.eye(6) * 5 * 1e-11 + self.Q[5, 5] = 0.03 self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 self.R_camera[2, 2] = 9 self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 - self.cnt = 0 self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) @@ -95,16 +97,14 @@ def init_callback(self, msg): msg.pose.orientation.z, msg.pose.orientation.w ) - if self.cnt == 0: - self.X[2] = theta - if msg.covariance[0] > 0: - if msg.covariance[0] < 1: - self.P[0, 0] = msg.covariance[0] - self.P[1, 1] = msg.covariance[7] - self.P[2, 2] = msg.covariance[35] - self.X[0] = msg.pose.position.x - self.X[1] = msg.pose.position.y - self.cnt += 1 + self.X[5] = theta + if msg.covariance[0] > 0: + if msg.covariance[0] < 1: + self.P[0, 0] = msg.covariance[0] + self.P[1, 1] = msg.covariance[7] + self.P[5, 5] = msg.covariance[35] + self.X[0] = msg.pose.position.x + self.X[1] = msg.pose.position.y def gps_callback(self, msg): @@ -156,27 +156,27 @@ def odom_callback(self, msg): dt = current_time - self.last_odom_time self.last_odom_time = current_time - delta_x = msg.linear.x * dt /1e3 - delta_y = msg.linear.y * dt /1e3 - delta_theta = msg.angular.z * dt + v_x = msg.linear.x /1e3 + v_y = msg.linear.y /1e3 + w = msg.angular.z # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") - self.ekf_predict(delta_x, delta_y, delta_theta) - - def ekf_predict(self, delta_x, delta_y, delta_theta): - theta = self.X[2] - F = np.eye(3) - F[0, 2] = -delta_x * math.sin(theta) - delta_y * math.cos(theta) - F[1, 2] = delta_x * math.cos(theta) - delta_y * math.sin(theta) - - self.X[0] += delta_x * math.cos(theta) - delta_y * math.sin(theta) - self.X[1] += delta_x * math.sin(theta) + delta_y * math.cos(theta) - self.X[2] += delta_theta - self.X[2] = normalize_angle(self.X[2]) - # self.get_logger().info(f"predict-x{self.X[0]}") + self.ekf_predict(v_x, v_y, w, dt) + + def ekf_predict(self, v_x, v_y, w, dt): + theta = self.X[5] + F = np.eye(6) + F[0, 3] = dt * math.cos(theta) + F[0, 4] = - dt * math.sin(theta) + F[1, 3] = dt * math.sin(theta) + F[1, 4] = dt * math.cos(theta) + F[2, 5] = dt + + self.X[0] += v_x * dt * math.cos(theta) - v_y * dt * math.sin(theta) + self.X[1] += v_x * dt * math.sin(theta) + v_y * dt * math.cos(theta) + self.X[5] = normalize_angle(self.X[5] + w * dt) + self.P = F @ self.P @ F.T + self.Q - if (self.P[0, 0] > 1) | (self.P[1, 1] > 1 ) | (self.P[2, 2] > 1) : - self.get_logger().warn(f"large Cov_pred:{self.P[0, 0]},{self.P[1, 1]},{self.P[2, 2]}") - self.P = np.eye(3) * 1e-2 + self.footprint_publish() def ekf_update(self, z, R): @@ -184,15 +184,22 @@ def ekf_update(self, z, R): self.get_logger().warn("Invalid measurement data received.") return - H = np.eye(3) # Observation matrix + H = np.zeros((3, 6)) + H[0, 0] = 1 + H[1, 1] = 1 + H[2, 5] = 1 S = H @ self.P @ H.T + R K = self.P @ H.T @ np.linalg.inv(S) + self.X += K @ (z - H @ self.X) - self.X[2] = normalize_angle(self.X[2]) - self.P = (np.eye(3) - K @ H) @ self.P - if (self.P[0, 0] > 1) | (self.P[1, 1] > 1 ) | (self.P[2, 2] > 1) : - self.get_logger().warn(f"large Cov_update:{self.P[0, 0]},{self.P[1, 1]},{self.P[2, 2]}") - self.P = np.eye(3) * 1e-2 + self.X[5] = normalize_angle(self.X[5]) + + I = np.eye(6) + self.P = (I - K @ H) @ self.P @ (I - K @ H).T + K @ R @ K.T + + # if (self.P[0, 0] > 1) | (self.P[1, 1] > 1 ) | (self.P[2, 2] > 1) : + # self.get_logger().warn(f"large Cov_update:{self.P[0, 0]},{self.P[1, 1]},{self.P[2, 2]}") + # self.P = np.eye(3) * 1e-2 def footprint_publish(self): t = TransformStamped() @@ -204,7 +211,7 @@ def footprint_publish(self): t.transform.translation.x = self.X[0] t.transform.translation.y = self.X[1] t.transform.translation.z = 0.0 - quat = quaternion_from_euler(0, 0, self.X[2]) + quat = quaternion_from_euler(0, 0, self.X[5]) t.transform.rotation.x = quat[0] t.transform.rotation.y = quat[1] t.transform.rotation.z = quat[2] diff --git a/localization-devel-ws/ekf/launch/bagplay.launch b/localization-devel-ws/ekf/launch/bagplay.launch deleted file mode 100644 index 63c5400..0000000 --- a/localization-devel-ws/ekf/launch/bagplay.launch +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file From 8ef76d1526ab72b63f3591233d8c04fa487b8123 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 13:04:16 +0800 Subject: [PATCH 072/184] Modify: small dia. --- localization-devel-ws/ekf/ekf/ekf_node.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index a57a331..85d1441 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -53,10 +53,10 @@ def __init__(self): self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w self.P = np.eye(6) * 1e-2 - self.P[5, 5] = 1 + # self.P[5, 5] = 1 self.Q = np.eye(6) * 5 * 1e-11 - self.Q[5, 5] = 0.03 + self.Q[5, 5] = 3 * 1e-8 self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 @@ -171,6 +171,10 @@ def ekf_predict(self, v_x, v_y, w, dt): F[1, 4] = dt * math.cos(theta) F[2, 5] = dt + F[2, 2] = 1e-5 + F[3, 3] = 1e-5 + F[4, 4] = 1e-5 + self.X[0] += v_x * dt * math.cos(theta) - v_y * dt * math.sin(theta) self.X[1] += v_x * dt * math.sin(theta) + v_y * dt * math.cos(theta) self.X[5] = normalize_angle(self.X[5] + w * dt) From 93da1d286d42a5b05ce5cef2bbbf1152c2c942e9 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 13:08:35 +0800 Subject: [PATCH 073/184] Modify: what did i modify?? --- localization-devel-ws/ekf/ekf/ekf_node.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 85d1441..fcbac88 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -171,9 +171,9 @@ def ekf_predict(self, v_x, v_y, w, dt): F[1, 4] = dt * math.cos(theta) F[2, 5] = dt - F[2, 2] = 1e-5 - F[3, 3] = 1e-5 - F[4, 4] = 1e-5 + F[2, 2] = 1e-3 + F[3, 3] = 1e-3 + F[4, 4] = 1e-3 self.X[0] += v_x * dt * math.cos(theta) - v_y * dt * math.sin(theta) self.X[1] += v_x * dt * math.sin(theta) + v_y * dt * math.cos(theta) From de05aa9ab60360b3c4078b393164edb0f40af92b Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 13:21:58 +0800 Subject: [PATCH 074/184] Modify: P, Q unrelated items --- localization-devel-ws/ekf/ekf/ekf_node.py | 24 ++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index fcbac88..39cde4c 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -52,11 +52,17 @@ def __init__(self): self.final_pose.header.frame_id = self.parent_frame_id self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w - self.P = np.eye(6) * 1e-2 - # self.P[5, 5] = 1 + self.P = np.eye(6) * 9 * 1e-4 + self.P[5, 5] = 0.1225 + self.P[2, 2] = 1e-9 + self.P[3, 3] = 1e-9 + self.P[4, 4] = 1e-9 self.Q = np.eye(6) * 5 * 1e-11 - self.Q[5, 5] = 3 * 1e-8 + self.Q[5, 5] = 0.03 + self.Q[2, 2] = 1e-9 + self.Q[3, 3] = 1e-9 + self.Q[4, 4] = 1e-9 self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 @@ -66,7 +72,7 @@ def __init__(self): self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - self.create_timer(1, self.camera_callback) + # self.create_timer(1, self.camera_callback) self.footprint_publish() @@ -76,7 +82,6 @@ def claim_parameters(self): self.declare_parameter('robot_frame_id', 'base_footprint') self.declare_parameter('camera_frame_id', 'marker_6') self.declare_parameter('camera_parent_id', 'map') - self.declare_parameter('update_rate', 50) self.parent_frame_id = self.get_parameter('robot_parent_frame_id').value self.child_frame_id = self.get_parameter('robot_frame_id').value @@ -171,13 +176,10 @@ def ekf_predict(self, v_x, v_y, w, dt): F[1, 4] = dt * math.cos(theta) F[2, 5] = dt - F[2, 2] = 1e-3 - F[3, 3] = 1e-3 - F[4, 4] = 1e-3 - self.X[0] += v_x * dt * math.cos(theta) - v_y * dt * math.sin(theta) self.X[1] += v_x * dt * math.sin(theta) + v_y * dt * math.cos(theta) - self.X[5] = normalize_angle(self.X[5] + w * dt) + self.X[5] += w * dt + self.X[5] = normalize_angle(self.X[5]) self.P = F @ self.P @ F.T + self.Q @@ -232,7 +234,7 @@ def footprint_publish(self): self.final_pose.pose.pose.orientation.w = quat[3] self.final_pose.pose.covariance[0] = self.P[0, 0] self.final_pose.pose.covariance[7] = self.P[1, 1] - self.final_pose.pose.covariance[35] = self.P[2, 2] + self.final_pose.pose.covariance[35] = self.P[5, 5] self.ekf_pose_publisher.publish(self.final_pose) From 11177515717e2847bdf68fb08a699792515a80dc Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 13:52:26 +0800 Subject: [PATCH 075/184] Modify: smaller Q[35] --- localization-devel-ws/ekf/ekf/ekf_node.py | 52 +++++++++++------------ 1 file changed, 26 insertions(+), 26 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 39cde4c..e83981c 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -53,16 +53,16 @@ def __init__(self): self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w self.P = np.eye(6) * 9 * 1e-4 - self.P[5, 5] = 0.1225 - self.P[2, 2] = 1e-9 - self.P[3, 3] = 1e-9 - self.P[4, 4] = 1e-9 + self.P[5, 5] = 1.2 * 1e-4 + self.P[2, 2] = 1e-6 + self.P[3, 3] = 1e-6 + self.P[4, 4] = 1e-6 self.Q = np.eye(6) * 5 * 1e-11 - self.Q[5, 5] = 0.03 - self.Q[2, 2] = 1e-9 - self.Q[3, 3] = 1e-9 - self.Q[4, 4] = 1e-9 + self.Q[5, 5] = 3 * 1e-9 + self.Q[2, 2] = 1e-6 + self.Q[3, 3] = 1e-6 + self.Q[4, 4] = 1e-6 self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 @@ -87,29 +87,29 @@ def claim_parameters(self): self.child_frame_id = self.get_parameter('robot_frame_id').value self.camera_frame_id = self.get_parameter('camera_frame_id').value self.camera_parent_id = self.get_parameter('camera_parent_id').value - self.rate = self.get_parameter('update_rate').value + # self.rate = self.get_parameter('update_rate').value def init_subscribers(self): self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) self.create_subscription(Twist, 'odoo_googoogoo', self.odom_callback, 10) - self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) + # self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) - def init_callback(self, msg): - - theta = euler_from_quaternion( - msg.pose.orientation.x, - msg.pose.orientation.y, - msg.pose.orientation.z, - msg.pose.orientation.w - ) - self.X[5] = theta - if msg.covariance[0] > 0: - if msg.covariance[0] < 1: - self.P[0, 0] = msg.covariance[0] - self.P[1, 1] = msg.covariance[7] - self.P[5, 5] = msg.covariance[35] - self.X[0] = msg.pose.position.x - self.X[1] = msg.pose.position.y + # def init_callback(self, msg): + + # theta = euler_from_quaternion( + # msg.pose.orientation.x, + # msg.pose.orientation.y, + # msg.pose.orientation.z, + # msg.pose.orientation.w + # ) + # self.X[5] = theta + # if msg.covariance[0] > 0: + # if msg.covariance[0] < 1: + # self.P[0, 0] = msg.covariance[0] + # self.P[1, 1] = msg.covariance[7] + # self.P[5, 5] = msg.covariance[35] + # self.X[0] = msg.pose.position.x + # self.X[1] = msg.pose.position.y def gps_callback(self, msg): From dd61f3af265a312cf2d137947d68da4e768b0f89 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 14:07:39 +0800 Subject: [PATCH 076/184] Modify: P[35] --- localization-devel-ws/ekf/ekf/ekf_node.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index e83981c..987ba3c 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -52,14 +52,14 @@ def __init__(self): self.final_pose.header.frame_id = self.parent_frame_id self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w - self.P = np.eye(6) * 9 * 1e-4 - self.P[5, 5] = 1.2 * 1e-4 + self.P = np.eye(6) * 9 * 1e-5 + self.P[5, 5] = 0.003 self.P[2, 2] = 1e-6 self.P[3, 3] = 1e-6 self.P[4, 4] = 1e-6 self.Q = np.eye(6) * 5 * 1e-11 - self.Q[5, 5] = 3 * 1e-9 + self.Q[5, 5] = 3 * 1e-7 self.Q[2, 2] = 1e-6 self.Q[3, 3] = 1e-6 self.Q[4, 4] = 1e-6 From 3335b9f08181d14c56034aab59e1dec755a7431d Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 14:53:34 +0800 Subject: [PATCH 077/184] Fix: reasonable cov --- localization-devel-ws/ekf/ekf/ekf_node.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 987ba3c..595899d 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -52,14 +52,14 @@ def __init__(self): self.final_pose.header.frame_id = self.parent_frame_id self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w - self.P = np.eye(6) * 9 * 1e-5 + self.P = np.eye(6) * 9 * 1e-4 self.P[5, 5] = 0.003 self.P[2, 2] = 1e-6 self.P[3, 3] = 1e-6 self.P[4, 4] = 1e-6 self.Q = np.eye(6) * 5 * 1e-11 - self.Q[5, 5] = 3 * 1e-7 + self.Q[5, 5] = 3 * 1e-5 self.Q[2, 2] = 1e-6 self.Q[3, 3] = 1e-6 self.Q[4, 4] = 1e-6 From d420f8642f0bd8695b41c2902d1a2b96a567e895 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 14:54:02 +0800 Subject: [PATCH 078/184] modified: change side --- localization-devel-ws/ekf/launch/bag_test.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/launch/bag_test.launch b/localization-devel-ws/ekf/launch/bag_test.launch index e883193..3f13b2c 100644 --- a/localization-devel-ws/ekf/launch/bag_test.launch +++ b/localization-devel-ws/ekf/launch/bag_test.launch @@ -23,7 +23,7 @@ - + From fab8c90131c559a90aa1c6df90037fa60c40d7aa Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 10 Feb 2025 20:46:21 +0800 Subject: [PATCH 079/184] Add: real test launch file --- localization-devel-ws/ekf/launch/run.launch | 36 +++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 localization-devel-ws/ekf/launch/run.launch diff --git a/localization-devel-ws/ekf/launch/run.launch b/localization-devel-ws/ekf/launch/run.launch new file mode 100644 index 0000000..71ccc3e --- /dev/null +++ b/localization-devel-ws/ekf/launch/run.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 5c9e2d3c5b6c78fd17cb322e46c6485fde9c819f Mon Sep 17 00:00:00 2001 From: robert Date: Tue, 11 Feb 2025 15:05:59 +0800 Subject: [PATCH 080/184] Modify: odom to map coord and publish --- .../local_filter/src/local_filter_LPF.cpp | 43 +++++++++++++++---- 1 file changed, 35 insertions(+), 8 deletions(-) diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index bbfa2f7..f35862e 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -3,6 +3,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/imu.hpp" #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp" +#include "geometry_msgs/msg/pose.hpp" // matrix calulation #include #include @@ -70,6 +71,8 @@ class GlobalFilterNode { imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); global_filter_pub_ = nh_->create_publisher("local_filter", 100); + odom2map_pub_=nh_->create_publisher("odom2map", 100); + } void diff_model(double v, double w, double dt) @@ -114,6 +117,13 @@ class GlobalFilterNode { { double x = pose_msg.pose.pose.position.x; double y = pose_msg.pose.pose.position.y; + + init_pose.position.x=x; + init_pose.position.y=y; + init_pose.orientation.x=pose_msg.pose.pose.orientation.x; + init_pose.orientation.y=pose_msg.pose.pose.orientation.y; + init_pose.orientation.z=pose_msg.pose.pose.orientation.z; + init_pose.orientation.w=pose_msg.pose.pose.orientation.w; tf2::Quaternion q; tf2::fromMsg(pose_msg.pose.pose.orientation, q); @@ -144,8 +154,7 @@ class GlobalFilterNode { linear_x_ = alpha_x * odom_msg.linear.x + (1 - alpha_x) * linear_x_; linear_y_ = alpha_y * odom_msg.linear.y + (1 - alpha_y) * linear_y_; angular_z_=odom_msg.angular.z; - // linear_x_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[0]); - // linear_y_cov_ = std::min(linear_cov_max_, odom_msg.twist.covariance[7]); + double cov_multi[3]; cov_multi[0]=cov_multi_[0]*abs(odom_msg.linear.x); cov_multi[1]=cov_multi_[1]*abs(odom_msg.linear.y); @@ -155,12 +164,27 @@ class GlobalFilterNode { cov_backup_[0]=linear_x_cov_; cov_backup_[1]=linear_y_cov_; - rclcpp::Clock clock; /* */ - rclcpp::Time now=clock.now(); /* */ - double dt=now.seconds()-prev_stamp_.seconds(); /* */ - // RCLCPP_INFO(rclcpp::get_logger("local_filter_LPF"), "dt=%f", dt); /* */ - omni_model(linear_x_, linear_y_, angular_z_, dt); /* */ - prev_stamp_=now; /* */ + rclcpp::Clock clock; + rclcpp::Time now=clock.now(); + double dt=now.seconds()-prev_stamp_.seconds(); + omni_model(linear_x_/1000, linear_y_/1000, angular_z_, dt); + prev_stamp_=now; + + // publish absolute coordinate + coord_odom2map.position.x=init_pose.position.x+odom_msg.angular.x/1000; + coord_odom2map.position.y=init_pose.position.y+odom_msg.angular.y/1000; + + tf2::Quaternion q; + tf2::fromMsg(init_pose.orientation, q); + tf2::Matrix3x3 qt(q); + double _, yaw; + qt.getRPY(_, _, yaw); + q.setRPY(0, 0, yaw+odom_msg.linear.z); + coord_odom2map.orientation.x=q.getX(); + coord_odom2map.orientation.y=q.getY(); + coord_odom2map.orientation.z=q.getZ(); + coord_odom2map.orientation.w=q.getW(); + odom2map_pub_->publish(coord_odom2map); } void imuCallback(const sensor_msgs::msg::Imu & imu_msg) { @@ -216,12 +240,15 @@ class GlobalFilterNode { rclcpp::Subscription::SharedPtr imu_sub_; rclcpp::Subscription::SharedPtr setpose_sub_; rclcpp::Publisher::SharedPtr global_filter_pub_; + rclcpp::Publisher::SharedPtr odom2map_pub_; //raw double twist_x_; double twist_y_; double cov_backup_[3]; double cov_multi_[3]; + geometry_msgs::msg::Pose init_pose; + geometry_msgs::msg::Pose coord_odom2map; //filtered double alpha_x; // filter coefficient double alpha_y; // filter coefficient From 5b541b884f8f6b63abf89c9b59aef52214035c83 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 11 Feb 2025 21:02:43 +0800 Subject: [PATCH 081/184] Modified: (EKF) odom as SI units --- localization-devel-ws/ekf/ekf/ekf_node.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 595899d..338b6bf 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -161,8 +161,8 @@ def odom_callback(self, msg): dt = current_time - self.last_odom_time self.last_odom_time = current_time - v_x = msg.linear.x /1e3 - v_y = msg.linear.y /1e3 + v_x = msg.linear.x + v_y = msg.linear.y w = msg.angular.z # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(v_x, v_y, w, dt) From 9bdc6ff6430d8b2d7d62a8ff347fcce42113d553 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 11 Feb 2025 21:12:01 +0800 Subject: [PATCH 082/184] Modified: (testBot) DOMAIN_ID, RMW_IMPLEMENTATION --- docker/testBot/OdomComm/docker/compose.yml | 6 +++++- docker/testBot/docker-compose.yaml | 7 ++++--- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index 5f72480..3779336 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -37,6 +37,9 @@ services: - /dev/dri:/dev/dri # Shared Memory - /dev/shm:/dev/shm + environment: + - ROS_DOMAIN_ID=42 + # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: image: jossiewang/eurobot2025-localization:ros1-serial @@ -81,7 +84,8 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - # - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=42 + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - ROS_WS=/home/user/localization-ws volumes: # Mount local timezone into container. ( Readonly ) diff --git a/docker/testBot/docker-compose.yaml b/docker/testBot/docker-compose.yaml index b3429ac..5cb6e97 100644 --- a/docker/testBot/docker-compose.yaml +++ b/docker/testBot/docker-compose.yaml @@ -1,13 +1,13 @@ version: '3' services: - ros2-localization-dev: + noComm-ros2-localization-dev: build: context: . dockerfile: Dockerfile args: USERNAME: user image: jossiewang/eurobot2025-localization:testBot-ros2 - container_name: localization-2025-dev-ros2 + container_name: noComm-localization-2025-dev-ros2 stdin_open: true tty: true privileged: true @@ -24,8 +24,9 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - # - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=42 - ROS_WS=/home/user/localization-ws + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp volumes: # Mount local timezone into container. ( Readonly ) # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container From 0a0afb14ce7844839190830740118389b9d66786 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Tue, 11 Feb 2025 23:26:19 +0800 Subject: [PATCH 083/184] modified: change bag name --- localization-devel-ws/ekf/launch/bag_test.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/launch/bag_test.launch b/localization-devel-ws/ekf/launch/bag_test.launch index 3f13b2c..bf87330 100644 --- a/localization-devel-ws/ekf/launch/bag_test.launch +++ b/localization-devel-ws/ekf/launch/bag_test.launch @@ -8,7 +8,7 @@ - + From 4f63d89c3ca81f21654c42e39db314965befcbf1 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Tue, 11 Feb 2025 23:26:37 +0800 Subject: [PATCH 084/184] Modified: change ROSDOMAIN --- docker/local-ros2/OdomComm/docker/compose.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/local-ros2/OdomComm/docker/compose.yml b/docker/local-ros2/OdomComm/docker/compose.yml index f0e23e0..48f55dd 100644 --- a/docker/local-ros2/OdomComm/docker/compose.yml +++ b/docker/local-ros2/OdomComm/docker/compose.yml @@ -38,7 +38,7 @@ services: # Shared Memory - /dev/shm:/dev/shm environment: - - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=43 # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: @@ -84,7 +84,7 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=43 - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - ROS_WS=/home/user/localization-ws volumes: From e82d8bb84238cad56c9fb5d70e6930468c5c3ed0 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Tue, 11 Feb 2025 23:26:49 +0800 Subject: [PATCH 085/184] Add: odom subscriber, record params --- localization-devel-ws/ekf/launch/run.launch | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/localization-devel-ws/ekf/launch/run.launch b/localization-devel-ws/ekf/launch/run.launch index 71ccc3e..937a5c3 100644 --- a/localization-devel-ws/ekf/launch/run.launch +++ b/localization-devel-ws/ekf/launch/run.launch @@ -1,14 +1,14 @@ - + - - + + @@ -29,6 +29,7 @@ + From 041e5de72d199b2b5cbf57d6a972a02a0f10edf7 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 11 Feb 2025 23:28:26 +0800 Subject: [PATCH 086/184] Add: (testBot) ros launch in compose cmd --- docker/testBot/OdomComm/docker/compose.yml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index 3779336..11df25d 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -66,7 +66,7 @@ services: dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros2 + image: jossiewang/eurobot2025-localization:testBot-ros2 # TODO: make a ros-ws-built image container_name: localization-2025-dev-ros2 stdin_open: true tty: true @@ -101,4 +101,7 @@ services: - /dev:/dev # Mount workspace - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws - command: /bin/bash \ No newline at end of file + command: /bin/bash -c " + source /opt/ros/humble/setup.bash && + source /home/user/localization-ws/install/setup.bash && + ros2 launch ekf run.launch" \ No newline at end of file From 29bcf39c34d4d7020324d21b5d3a3128f20a8fe3 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 00:20:52 +0800 Subject: [PATCH 087/184] Add: (testBot) pre-built docker image --- docker/testBot/Dockerfile | 16 +++++++++++++++- docker/testBot/OdomComm/docker/compose.yml | 9 ++++++--- 2 files changed, 21 insertions(+), 4 deletions(-) diff --git a/docker/testBot/Dockerfile b/docker/testBot/Dockerfile index 4c7bac3..fdbd70a 100644 --- a/docker/testBot/Dockerfile +++ b/docker/testBot/Dockerfile @@ -64,6 +64,7 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && \ # ros-humble-laser-geometry \ libsuitesparse-dev \ ros-humble-libg2o \ + ros-humble-rmw-cyclonedds-cpp\ # ros-humble-imu-tools \ libusb-1.0-0 libusb-1.0-0-dev -y && \ rm -rf /var/lib/apt/lists/* @@ -96,12 +97,23 @@ WORKDIR /home/user/localization-ws/src/rplidar-ros-driver RUN git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git /home/user/localization-ws/src/rplidar-ros-driver/ RUN git clone -b humble-devel https://github.com/harmony-eu/obstacle_detector_2.git /home/user/localization-ws/src/obstacle_detector_2 +################################################################################################ +# - devel-ws build stage +# +################################################################################################ + +FROM lidar-dep AS devel-ws +WORKDIR /home/user/temp +RUN git clone -b devel https://github.com/DIT-ROBOTICS/Eurobot-2025-Localization.git /home/user/temp/Eurobot-2025-Localization +RUN mv /home/user/temp/Eurobot-2025-Localization/localization-devel-ws /home/user/localization-ws/src/localization-devel-ws +RUN rm -rf /home/user/temp + ################################################################################################ # - Final stage # ################################################################################################ -FROM lidar-dep AS final +FROM devel-ws AS final ## Set working directory WORKDIR /home/${USERNAME}/localization-ws @@ -113,6 +125,8 @@ RUN sudo apt-get update && \ /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --symlink-install' \ && sudo rm -rf /var/lib/apt/lists/* +RUN rm -rf /home/user/localization-ws/src/localization-devel-ws + COPY .bashrc /home/$USERNAME/.bashrc.conf RUN cat /home/$USERNAME/.bashrc.conf >> /home/$USERNAME/.bashrc diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index 11df25d..b09ef72 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -102,6 +102,9 @@ services: # Mount workspace - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws command: /bin/bash -c " - source /opt/ros/humble/setup.bash && - source /home/user/localization-ws/install/setup.bash && - ros2 launch ekf run.launch" \ No newline at end of file + cd /home/user/localization-ws/src/localization-devel-ws && + sudo chmod +x usb.sh && + ./usb.sh && + source /opt/ros/humble/setup.bash && + source /home/user/localization-ws/install/setup.bash && + ros2 launch ekf run.launch" \ No newline at end of file From ec04b5da53879ca18df206c14bde2e60524eeb8c Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 10:55:57 +0800 Subject: [PATCH 088/184] Modified: (EKF) using initial pose --- localization-devel-ws/ekf/ekf/ekf_node.py | 34 +++++++++++------------ 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 338b6bf..1642a8a 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -92,24 +92,24 @@ def claim_parameters(self): def init_subscribers(self): self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) self.create_subscription(Twist, 'odoo_googoogoo', self.odom_callback, 10) - # self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) + self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) - # def init_callback(self, msg): - - # theta = euler_from_quaternion( - # msg.pose.orientation.x, - # msg.pose.orientation.y, - # msg.pose.orientation.z, - # msg.pose.orientation.w - # ) - # self.X[5] = theta - # if msg.covariance[0] > 0: - # if msg.covariance[0] < 1: - # self.P[0, 0] = msg.covariance[0] - # self.P[1, 1] = msg.covariance[7] - # self.P[5, 5] = msg.covariance[35] - # self.X[0] = msg.pose.position.x - # self.X[1] = msg.pose.position.y + def init_callback(self, msg): + + theta = euler_from_quaternion( + msg.pose.orientation.x, + msg.pose.orientation.y, + msg.pose.orientation.z, + msg.pose.orientation.w + ) + self.X[5] = theta + if msg.covariance[0] > 0: + if msg.covariance[0] < 1: + self.P[0, 0] = msg.covariance[0] + self.P[1, 1] = msg.covariance[7] + self.P[5, 5] = msg.covariance[35] + self.X[0] = msg.pose.position.x + self.X[1] = msg.pose.position.y def gps_callback(self, msg): From 9b8ea90e5269b2b0c8181f0cea367af288e5149f Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 11:13:50 +0800 Subject: [PATCH 089/184] Modified (testBot) use built image --- docker/testBot/OdomComm/docker/compose.yml | 2 +- docker/testBot/docker-compose.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index b09ef72..b5965cc 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -66,7 +66,7 @@ services: dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros2 # TODO: make a ros-ws-built image + image: jossiewang/eurobot2025-localization:testBot-ros2-built # TODO: make a ros-ws-built image container_name: localization-2025-dev-ros2 stdin_open: true tty: true diff --git a/docker/testBot/docker-compose.yaml b/docker/testBot/docker-compose.yaml index 5cb6e97..a1130be 100644 --- a/docker/testBot/docker-compose.yaml +++ b/docker/testBot/docker-compose.yaml @@ -6,7 +6,7 @@ services: dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros2 + image: jossiewang/eurobot2025-localization:testBot-ros2-built container_name: noComm-localization-2025-dev-ros2 stdin_open: true tty: true From 9969138797be3c2525cf2c384ea8781ce8651d39 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 12:36:37 +0800 Subject: [PATCH 090/184] Fixed: rosbridge conflict with foxglove Modified: don't use sim time on testBot Modified: run.launch by path instead of pre-built notes: - when foxglove is running on testBot or local machine, rosbridge will not work - this is because foxglove activate /rosout which rosbridge does not support - to fix this, disable /rosout in foxglove --- docker/testBot/OdomComm/docker/compose.yml | 2 +- localization-devel-ws/cust_foxglove_launch.py | 15 +++++++++++++++ localization-devel-ws/ekf/launch/run.launch | 9 +++++---- 3 files changed, 21 insertions(+), 5 deletions(-) create mode 100644 localization-devel-ws/cust_foxglove_launch.py diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index b5965cc..077bcae 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -107,4 +107,4 @@ services: ./usb.sh && source /opt/ros/humble/setup.bash && source /home/user/localization-ws/install/setup.bash && - ros2 launch ekf run.launch" \ No newline at end of file + ros2 launch /home/user/localization-ws/src/localization-devel-ws/ekf/launch/run.launch" \ No newline at end of file diff --git a/localization-devel-ws/cust_foxglove_launch.py b/localization-devel-ws/cust_foxglove_launch.py new file mode 100644 index 0000000..f72f20d --- /dev/null +++ b/localization-devel-ws/cust_foxglove_launch.py @@ -0,0 +1,15 @@ +import launch +from launch_ros.actions import Node + +def generate_launch_description(): + return launch.LaunchDescription([ + Node( + package="foxglove_bridge", + executable="foxglove_bridge", + name="foxglove_bridge", + output="screen", + parameters=[{ + "topic_whitelist": ["^(?!/rosout$).*"] # Exclude /rosout + }] + ) + ]) diff --git a/localization-devel-ws/ekf/launch/run.launch b/localization-devel-ws/ekf/launch/run.launch index 937a5c3..f40af4d 100644 --- a/localization-devel-ws/ekf/launch/run.launch +++ b/localization-devel-ws/ekf/launch/run.launch @@ -1,8 +1,9 @@ + - + @@ -15,21 +16,21 @@ - + - + - + From 3e5c318b9f2bfc9950543e38e8fae003011354f7 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 13:36:05 +0800 Subject: [PATCH 091/184] Add: (LiDAR) subscription to /set_lidar_side ---------- command ---------- YELLOW '0' or 'yellow' X X O-> X BLUE '1' or 'blue' X X O-> X --- .../lidar_member_function.py | 31 ++++++++++++++++++- 1 file changed, 30 insertions(+), 1 deletion(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 0aa5a9e..574c5be 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -4,7 +4,7 @@ from geometry_msgs.msg import PoseWithCovarianceStamped from obstacle_detector.msg import Obstacles from visualization_msgs.msg import Marker, MarkerArray -from std_msgs.msg import ColorRGBA +from std_msgs.msg import ColorRGBA, String import numpy as np @@ -59,6 +59,13 @@ def __init__(self): self.pred_pose_callback, 10 ) + # subscribe to set_lidar_side topic + self.subscription = self.create_subscription( + String, + 'set_lidar_side', + self.set_lidar_side_callback, + 10 + ) self.subscription # prevent unused variable warning # ros debug logger @@ -105,6 +112,28 @@ def pred_pose_callback(self, msg): [0, 0, msg.pose.covariance[35]] ]) + def set_lidar_side_callback(self, msg): + side = msg.data.lower() + if side in ['0', '1', 'yellow', 'blue']: + if side == '0' or side == 'yellow': + self.side = 0 + self.landmarks_map = [ + np.array([-0.094, 0.052]), + np.array([-0.094, 1.948]), + np.array([3.094, 1.0]) + ] + elif side == '1' or side == 'blue': + self.side = 1 + self.landmarks_map = [ + np.array([3.094, 0.052]), + np.array([3.094, 1.948]), + np.array([-0.094, 1.0]) + ] + self.init_landmarks_map(self.landmarks_map) + self.get_logger().debug(f"Set lidar side to {self.side}") + else: + self.get_logger().warn("Invalid side value") + def init_landmarks_map(self, landmarks_map): self.landmarks_map = landmarks_map # calculate the geometry description of landmarks From 48bebc48b013d58d23b77920b60f2f3582caee63 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 14:35:02 +0800 Subject: [PATCH 092/184] Add: (testBot) temp sol to sides setting --- docker/testBot/OdomComm/blue_run.sh | 19 +++ .../testBot/OdomComm/docker/blue-compose.yml | 110 ++++++++++++++++++ .../OdomComm/docker/yellow-compose.yml | 110 ++++++++++++++++++ docker/testBot/OdomComm/yellow_run.sh | 19 +++ localization-devel-ws/ekf/launch/blue.launch | 38 ++++++ .../ekf/launch/yellow.launch | 38 ++++++ 6 files changed, 334 insertions(+) create mode 100755 docker/testBot/OdomComm/blue_run.sh create mode 100644 docker/testBot/OdomComm/docker/blue-compose.yml create mode 100644 docker/testBot/OdomComm/docker/yellow-compose.yml create mode 100755 docker/testBot/OdomComm/yellow_run.sh create mode 100644 localization-devel-ws/ekf/launch/blue.launch create mode 100644 localization-devel-ws/ekf/launch/yellow.launch diff --git a/docker/testBot/OdomComm/blue_run.sh b/docker/testBot/OdomComm/blue_run.sh new file mode 100755 index 0000000..445f658 --- /dev/null +++ b/docker/testBot/OdomComm/blue_run.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +## 0. clean container within same group +echo "=== [COMMUNICATION] Pull & Run ===" +echo "[COMMUNICATION] Remove Containers ..." +docker compose -p communication down --volumes --remove-orphans + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. build image +echo "[COMMUNICATION] Pull Images ..." +docker pull pomelo925/ttennis-humble:communication + +## 4. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication -f blue-compose.yml up diff --git a/docker/testBot/OdomComm/docker/blue-compose.yml b/docker/testBot/OdomComm/docker/blue-compose.yml new file mode 100644 index 0000000..6d5338e --- /dev/null +++ b/docker/testBot/OdomComm/docker/blue-compose.yml @@ -0,0 +1,110 @@ +services: + ros-core: + image: osrf/ros:noetic-desktop-full + container_name: ros-core + command: "rosmaster --core" + network_mode: host + stop_grace_period: 1s + healthcheck: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + test: /ros_entrypoint.sh bash -c "rostopic list || exit 1" + interval: 3s + timeout: 10s + retries: 5 + + ros1-bridge: + build: + context: . + target: release + image: pomelo925/ttennis-humble:communication + container_name: ros2-ros1-bridge-ws + stop_grace_period: 1s + depends_on: + ros-core: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + condition: service_healthy + command: ./start-bridge.sh + stdin_open: true + tty: true + network_mode: host + working_dir: / + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Direct Rendering Infrastructure + - /dev/dri:/dev/dri + # Shared Memory + - /dev/shm:/dev/shm + environment: + - ROS_DOMAIN_ID=42 + # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value + + ros1: + image: jossiewang/eurobot2025-localization:ros1-serial + container_name: ros1 + stdin_open: true + tty: true + network_mode: host + privileged: true + volumes: + - /dev:/dev + stop_grace_period: 1s + depends_on: + ros-core: + condition: service_healthy + command: /bin/bash -c " + source /opt/ros/noetic/setup.bash && + source ~/ws/devel/setup.bash && + sudo chmod 777 /dev/ttyACM0 && + roslaunch odometry odometry_comm.launch" + + ros2-localization-dev: + build: + context: . + dockerfile: Dockerfile + args: + USERNAME: user + image: jossiewang/eurobot2025-localization:testBot-ros2-built # TODO: make a ros-ws-built image + container_name: localization-2025-dev-ros2 + stdin_open: true + tty: true + privileged: true + stop_grace_period: 1s + restart: no + # entrypoint: ["./start.sh"] + + network_mode: host + working_dir: /home/user/localization-ws + environment: + - DISPLAY=${DISPLAY} + # Set ros2 environment variables. + # References: + # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html + # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html + # - ROS_LOCALHOST_ONLY=1 + - ROS_DOMAIN_ID=42 + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + - ROS_WS=/home/user/localization-ws + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + # Direct Rendering Infrastructure + # - /dev/dri:/dev/dri + # Mount sound card to prevent Gazebo warning. + # - /dev/snd:/dev/snd + - /dev:/dev + # Mount workspace + - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + command: /bin/bash -c " + cd /home/user/localization-ws/src/localization-devel-ws && + sudo chmod +x usb.sh && + ./usb.sh && + source /opt/ros/humble/setup.bash && + source /home/user/localization-ws/install/setup.bash && + ros2 launch /home/user/localization-ws/src/localization-devel-ws/ekf/launch/blue.launch" \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/yellow-compose.yml b/docker/testBot/OdomComm/docker/yellow-compose.yml new file mode 100644 index 0000000..043858e --- /dev/null +++ b/docker/testBot/OdomComm/docker/yellow-compose.yml @@ -0,0 +1,110 @@ +services: + ros-core: + image: osrf/ros:noetic-desktop-full + container_name: ros-core + command: "rosmaster --core" + network_mode: host + stop_grace_period: 1s + healthcheck: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + test: /ros_entrypoint.sh bash -c "rostopic list || exit 1" + interval: 3s + timeout: 10s + retries: 5 + + ros1-bridge: + build: + context: . + target: release + image: pomelo925/ttennis-humble:communication + container_name: ros2-ros1-bridge-ws + stop_grace_period: 1s + depends_on: + ros-core: + # The healthcheck is required for ros1-bridge to wait until roscore is ready. + condition: service_healthy + command: ./start-bridge.sh + stdin_open: true + tty: true + network_mode: host + working_dir: / + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Direct Rendering Infrastructure + - /dev/dri:/dev/dri + # Shared Memory + - /dev/shm:/dev/shm + environment: + - ROS_DOMAIN_ID=42 + # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value + + ros1: + image: jossiewang/eurobot2025-localization:ros1-serial + container_name: ros1 + stdin_open: true + tty: true + network_mode: host + privileged: true + volumes: + - /dev:/dev + stop_grace_period: 1s + depends_on: + ros-core: + condition: service_healthy + command: /bin/bash -c " + source /opt/ros/noetic/setup.bash && + source ~/ws/devel/setup.bash && + sudo chmod 777 /dev/ttyACM0 && + roslaunch odometry odometry_comm.launch" + + ros2-localization-dev: + build: + context: . + dockerfile: Dockerfile + args: + USERNAME: user + image: jossiewang/eurobot2025-localization:testBot-ros2-built # TODO: make a ros-ws-built image + container_name: localization-2025-dev-ros2 + stdin_open: true + tty: true + privileged: true + stop_grace_period: 1s + restart: no + # entrypoint: ["./start.sh"] + + network_mode: host + working_dir: /home/user/localization-ws + environment: + - DISPLAY=${DISPLAY} + # Set ros2 environment variables. + # References: + # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html + # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html + # - ROS_LOCALHOST_ONLY=1 + - ROS_DOMAIN_ID=42 + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp + - ROS_WS=/home/user/localization-ws + volumes: + # Mount local timezone into container. ( Readonly ) + # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container + - /etc/timezone:/etc/timezone:ro + - /etc/localtime:/etc/localtime:ro + # Mount X11 server + - /tmp/.X11-unix:/tmp/.X11-unix + # Direct Rendering Infrastructure + # - /dev/dri:/dev/dri + # Mount sound card to prevent Gazebo warning. + # - /dev/snd:/dev/snd + - /dev:/dev + # Mount workspace + - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws + command: /bin/bash -c " + cd /home/user/localization-ws/src/localization-devel-ws && + sudo chmod +x usb.sh && + ./usb.sh && + source /opt/ros/humble/setup.bash && + source /home/user/localization-ws/install/setup.bash && + ros2 launch /home/user/localization-ws/src/localization-devel-ws/ekf/launch/yellow.launch" \ No newline at end of file diff --git a/docker/testBot/OdomComm/yellow_run.sh b/docker/testBot/OdomComm/yellow_run.sh new file mode 100755 index 0000000..445f658 --- /dev/null +++ b/docker/testBot/OdomComm/yellow_run.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +## 0. clean container within same group +echo "=== [COMMUNICATION] Pull & Run ===" +echo "[COMMUNICATION] Remove Containers ..." +docker compose -p communication down --volumes --remove-orphans + +## 2. environment setup +export DISPLAY=:0 +xhost +local:docker +cd docker + +## 3. build image +echo "[COMMUNICATION] Pull Images ..." +docker pull pomelo925/ttennis-humble:communication + +## 4. deployment +echo "[COMMUNICATION] Deploying..." +docker compose -p communication -f blue-compose.yml up diff --git a/localization-devel-ws/ekf/launch/blue.launch b/localization-devel-ws/ekf/launch/blue.launch new file mode 100644 index 0000000..f40af4d --- /dev/null +++ b/localization-devel-ws/ekf/launch/blue.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/ekf/launch/yellow.launch b/localization-devel-ws/ekf/launch/yellow.launch new file mode 100644 index 0000000..d1901a6 --- /dev/null +++ b/localization-devel-ws/ekf/launch/yellow.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 4cbb9c50a0039d00aa12543629ed584a0472cc9c Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 12 Feb 2025 15:34:26 +0800 Subject: [PATCH 093/184] Add: (TOOL) to use foxglove alongside bridge --- docker/local-ros2/docker-compose.yaml | 4 +- localization-devel-ws/Localization2025.json | 277 ++++++++++++++++++++ 2 files changed, 279 insertions(+), 2 deletions(-) create mode 100644 localization-devel-ws/Localization2025.json diff --git a/docker/local-ros2/docker-compose.yaml b/docker/local-ros2/docker-compose.yaml index 8ca2e13..f1a7a55 100644 --- a/docker/local-ros2/docker-compose.yaml +++ b/docker/local-ros2/docker-compose.yaml @@ -49,5 +49,5 @@ services: # "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind" # Mount workspace - ../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws - # command: /bin/bash -c "echo 'export ROS_DOMAIN_ID=42' >> ~/.bashrc && /bin/bash" - command: /bin/bash \ No newline at end of file + # command: /bin/bash + command: /bin/bash -c "ros2 launch /home/user/localization-ws/src/localization-devel-ws/cust_foxglove_launch.py" \ No newline at end of file diff --git a/localization-devel-ws/Localization2025.json b/localization-devel-ws/Localization2025.json new file mode 100644 index 0000000..b2ef89e --- /dev/null +++ b/localization-devel-ws/Localization2025.json @@ -0,0 +1,277 @@ +{ + "configById": { + "RawMessages!3t28h31": { + "diffEnabled": false, + "diffMethod": "custom", + "diffTopicPath": "", + "showFullMessageForDiff": false, + "topicPath": "/final_pose", + "fontSize": 12 + }, + "Publish!15frgi1": { + "buttonText": "Publish", + "buttonTooltip": "", + "advancedView": true, + "value": "{\n \"pose\": {\n \"position\": {\n \"x\": 0.2,\n \"y\": 0.2,\n \"z\": 0\n },\n \"orientation\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0,\n \"w\": 1\n }\n },\n \"covariance\": [\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0,\n 0\n ]\n}", + "topicName": "/initial_pose", + "datatype": "geometry_msgs/msg/PoseWithCovariance" + }, + "CallService!1yj1d78": { + "requestPayload": "{}", + "layout": "vertical", + "timeoutSeconds": 10, + "serviceName": "/stop_motor" + }, + "3D!18i6zy7": { + "layers": { + "845139cb-26bc-40b3-8161-8ab60af4baf5": { + "visible": true, + "frameLocked": true, + "label": "Grid", + "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5", + "layerId": "foxglove.Grid", + "divisions": 10, + "lineWidth": 1, + "color": "#248eff", + "position": [ + 0, + 0, + 0 + ], + "rotation": [ + 0, + 0, + 0 + ], + "order": 1, + "size": 10 + } + }, + "cameraState": { + "perspective": false, + "distance": 7.756232686968195, + "phi": 0.8308265290941991, + "thetaOffset": 0.31473824063803896, + "targetOffset": [ + 1.4733514080898287, + 0.7413208915944177, + 1.4656570248963758e-17 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000, + "logDepth": false + }, + "followMode": "follow-position", + "scene": { + "labelScaleFactor": 1, + "meshUpAxis": "y_up", + "transforms": { + "labelSize": 0.1 + } + }, + "transforms": { + "frame:map": { + "visible": true + }, + "frame:marker_6": { + "visible": true + }, + "frame:cam_mid_link": { + "visible": false + }, + "frame:cam_left_link": { + "visible": false + }, + "frame:camera_base_link": { + "visible": false + }, + "frame:cam_right_link": { + "visible": false + }, + "frame:cam_right_color_frame": { + "visible": false + }, + "frame:cam_right_color_optical_frame": { + "visible": false + }, + "frame:cam_right_depth_frame": { + "visible": false + }, + "frame:cam_right_depth_optical_frame": { + "visible": false + }, + "frame:cam_left_color_frame": { + "visible": false + }, + "frame:cam_left_color_optical_frame": { + "visible": false + }, + "frame:cam_left_depth_frame": { + "visible": false + }, + "frame:cam_left_depth_optical_frame": { + "visible": false + }, + "frame:cam_mid_color_frame": { + "visible": false + }, + "frame:cam_mid_color_optical_frame": { + "visible": false + }, + "frame:cam_mid_depth_frame": { + "visible": false + }, + "frame:cam_mid_depth_optical_frame": { + "visible": false + }, + "frame:beacon_c": { + "visible": true + }, + "frame:beacon_b": { + "visible": true + }, + "frame:base_footprint": { + "visible": true + }, + "frame:laser": { + "visible": false + }, + "frame:beacon_a": { + "visible": true + } + }, + "topics": { + "/robot/scan": { + "visible": false, + "colorField": "range", + "colorMode": "flat", + "colorMap": "turbo", + "decayTime": 0 + }, + "/robot/followed_path": { + "visible": false, + "lineWidth": 0.18 + }, + "/robot/imu/orientation_filtered": { + "visible": true, + "type": "arrow" + }, + "/robot/lidar_bonbonbon": { + "visible": true, + "type": "arrow", + "color": "#ff6b6bff", + "showCovariance": true, + "covarianceColor": "#a0409aa3" + }, + "/robot/map": { + "visible": true + }, + "/robot/move_base/global_costmap/costmap": { + "visible": false + }, + "/robot/move_base/GlobalPlanner/potential": { + "visible": false + }, + "/robot/move_base/local_costmap/costmap": { + "visible": false + }, + "/robot/move_base/global_costmap/footprint": { + "visible": false + }, + "/robot/move_base/local_costmap/footprint": { + "visible": false + }, + "/robot/dock_exec_goal": { + "visible": false + }, + "/robot/local_goal": { + "visible": false + }, + "/robot/path_exec_goal": { + "visible": false + }, + "/robot/move_base/GlobalPlanner/plan": { + "visible": false + }, + "/circles": { + "visible": true, + "showOutlines": false, + "selectedIdVariable": "1", + "namespaces": { + "text": { + "visible": true + }, + "circles": { + "visible": true + } + } + }, + "/scan": { + "visible": false, + "colorField": "intensity", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/raw_obstacles_visualization": { + "visible": true + }, + "/final_pose": { + "visible": false + }, + "/lidar_pose": { + "visible": true, + "type": "arrow", + "arrowScale": [ + 0.3, + 0.05, + 0.15 + ] + } + }, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {} + } + }, + "globalVariables": { + "1": 6 + }, + "userNodes": {}, + "playbackConfig": { + "speed": 1 + }, + "layout": { + "direction": "row", + "first": { + "first": "RawMessages!3t28h31", + "second": { + "first": "Publish!15frgi1", + "second": "CallService!1yj1d78", + "direction": "column" + }, + "direction": "column", + "splitPercentage": 23.14814814814815 + }, + "second": "3D!18i6zy7", + "splitPercentage": 29.545454545454547 + } +} \ No newline at end of file From 84434f4a5c82eb47cd72190c7bb3f32d20bb4fe4 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 12 Feb 2025 15:58:45 +0800 Subject: [PATCH 094/184] Fix: bag recording depending functions --- localization-devel-ws/ekf/launch/bag_test.launch | 3 ++- localization-devel-ws/ekf/launch/real.launch | 16 ---------------- .../ekf/launch/rplidar_ns.launch | 14 -------------- 3 files changed, 2 insertions(+), 31 deletions(-) delete mode 100644 localization-devel-ws/ekf/launch/real.launch delete mode 100644 localization-devel-ws/ekf/launch/rplidar_ns.launch diff --git a/localization-devel-ws/ekf/launch/bag_test.launch b/localization-devel-ws/ekf/launch/bag_test.launch index bf87330..ba1c1fa 100644 --- a/localization-devel-ws/ekf/launch/bag_test.launch +++ b/localization-devel-ws/ekf/launch/bag_test.launch @@ -15,7 +15,8 @@ - + + diff --git a/localization-devel-ws/ekf/launch/real.launch b/localization-devel-ws/ekf/launch/real.launch deleted file mode 100644 index f3aa0b7..0000000 --- a/localization-devel-ws/ekf/launch/real.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/localization-devel-ws/ekf/launch/rplidar_ns.launch b/localization-devel-ws/ekf/launch/rplidar_ns.launch deleted file mode 100644 index e016718..0000000 --- a/localization-devel-ws/ekf/launch/rplidar_ns.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - \ No newline at end of file From 1262b1c5c3997230a319a8dd4292aac261ab6efb Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 12 Feb 2025 17:05:35 +0800 Subject: [PATCH 095/184] Modified: right TF --- .../launch/firmware/view_rplidar_s3_launch.py | 85 +++++++++ .../launch/rival_localization.xml | 21 ++- .../rival_localization/rviz/rplidar_ros.rviz | 162 ++++++++++++++++++ 3 files changed, 260 insertions(+), 8 deletions(-) create mode 100644 localization-devel-ws/rival/rival_localization/launch/firmware/view_rplidar_s3_launch.py create mode 100644 localization-devel-ws/rival/rival_localization/rviz/rplidar_ros.rviz diff --git a/localization-devel-ws/rival/rival_localization/launch/firmware/view_rplidar_s3_launch.py b/localization-devel-ws/rival/rival_localization/launch/firmware/view_rplidar_s3_launch.py new file mode 100644 index 0000000..f597d1e --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/launch/firmware/view_rplidar_s3_launch.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python3 + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import LogInfo +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + channel_type = LaunchConfiguration('channel_type', default='serial') + serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0') + serial_baudrate = LaunchConfiguration('serial_baudrate', default='1000000') + frame_id = LaunchConfiguration('frame_id', default='robot/laser') + inverted = LaunchConfiguration('inverted', default='false') + angle_compensate = LaunchConfiguration('angle_compensate', default='true') + scan_mode = LaunchConfiguration('scan_mode', default='DenseBoost') + + rviz_config_dir = os.path.join( + get_package_share_directory('rival_localization'), + 'rviz', + 'rplidar_ros.rviz') + + + return LaunchDescription([ + DeclareLaunchArgument( + 'channel_type', + default_value=channel_type, + description='Specifying channel type of lidar'), + + DeclareLaunchArgument( + 'serial_port', + default_value=serial_port, + description='Specifying usb port to connected lidar'), + + DeclareLaunchArgument( + 'serial_baudrate', + default_value=serial_baudrate, + description='Specifying usb port baudrate to connected lidar'), + + DeclareLaunchArgument( + 'frame_id', + default_value=frame_id, + description='Specifying frame_id of lidar'), + + DeclareLaunchArgument( + 'inverted', + default_value=inverted, + description='Specifying whether or not to invert scan data'), + + DeclareLaunchArgument( + 'angle_compensate', + default_value=angle_compensate, + description='Specifying whether or not to enable angle_compensate of scan data'), + + DeclareLaunchArgument( + 'scan_mode', + default_value=scan_mode, + description='Specifying scan mode of lidar'), + + Node( + package='rplidar_ros', + executable='rplidar_node', + name='rplidar_node_rival', + parameters=[{'channel_type':channel_type, + 'serial_port': serial_port, + 'serial_baudrate': serial_baudrate, + 'frame_id': frame_id, + 'inverted': inverted, + 'angle_compensate': angle_compensate, + 'scan_mode': scan_mode + }], + output='screen'), + + Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_dir], + output='screen'), + ]) + diff --git a/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml b/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml index 1134678..f700612 100644 --- a/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml +++ b/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml @@ -4,16 +4,21 @@ + args="1.45 0.5 0 0 0 0 $(var robot_name)/map $(var robot_name)/laser" /> + - - - - - - - + + + + + + + + + + diff --git a/localization-devel-ws/rival/rival_localization/rviz/rplidar_ros.rviz b/localization-devel-ws/rival/rival_localization/rviz/rplidar_ros.rviz new file mode 100644 index 0000000..89b4192 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/rviz/rplidar_ros.rviz @@ -0,0 +1,162 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /LaserScan1 + - /LaserScan1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 576 + - 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 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0 + Min Value: 0 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 47 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: System Default + Value: robot/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: robot/laser + 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 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + 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: 18.439373016357422 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697605609893799 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 1.5603972673416138 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 805 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002cbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002cb000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002cbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002cb000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000413000002cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1391 + X: 282 + Y: 63 From efc4f4fb82594359d3f1d320c28718509aeab255 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 12 Feb 2025 17:56:17 +0800 Subject: [PATCH 096/184] Add: link robot/map to global map --- .../rival/rival_localization/launch/rival_localization.xml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml b/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml index f700612..55dd210 100644 --- a/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml +++ b/localization-devel-ws/rival/rival_localization/launch/rival_localization.xml @@ -3,10 +3,12 @@ + + - + From 73135f9aa0217f6e468d9bf5cd7e587f7e20a6ed Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 12 Feb 2025 17:56:42 +0800 Subject: [PATCH 097/184] Add: independent launch for lidar localizaton --- .../launch/firmware/rplidar_s3_launch.py | 71 +++++++++++++++++++ .../launch/view_obstacles_launch.xml | 2 +- 2 files changed, 72 insertions(+), 1 deletion(-) create mode 100644 localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py b/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py new file mode 100644 index 0000000..8e52c6f --- /dev/null +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import LogInfo +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + channel_type = LaunchConfiguration('channel_type', default='serial') + serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB1') + serial_baudrate = LaunchConfiguration('serial_baudrate', default='1000000') + frame_id = LaunchConfiguration('frame_id', default='laser') + inverted = LaunchConfiguration('inverted', default='false') + angle_compensate = LaunchConfiguration('angle_compensate', default='true') + scan_mode = LaunchConfiguration('scan_mode', default='DenseBoost') + + return LaunchDescription([ + DeclareLaunchArgument( + 'channel_type', + default_value=channel_type, + description='Specifying channel type of lidar'), + + DeclareLaunchArgument( + 'serial_port', + default_value=serial_port, + description='Specifying usb port to connected lidar'), + + DeclareLaunchArgument( + 'serial_baudrate', + default_value=serial_baudrate, + description='Specifying usb port baudrate to connected lidar'), + + DeclareLaunchArgument( + 'frame_id', + default_value=frame_id, + description='Specifying frame_id of lidar'), + + DeclareLaunchArgument( + 'inverted', + default_value=inverted, + description='Specifying whether or not to invert scan data'), + + DeclareLaunchArgument( + 'angle_compensate', + default_value=angle_compensate, + description='Specifying whether or not to enable angle_compensate of scan data'), + + DeclareLaunchArgument( + 'scan_mode', + default_value=scan_mode, + description='Specifying scan mode of lidar'), + + Node( + package='rplidar_ros', + executable='rplidar_node', + name='rplidar_node', + parameters=[{'channel_type':channel_type, + 'serial_port': serial_port, + 'serial_baudrate': serial_baudrate, + 'frame_id': frame_id, + 'inverted': inverted, + 'angle_compensate': angle_compensate, + 'scan_mode': scan_mode}], + output='screen'), + ]) + diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml index cb7747c..544c9b9 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml @@ -2,7 +2,7 @@ - + From c72120857faa8f6fdf04c37c958f6a635ba24938 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 12 Feb 2025 19:39:55 +0800 Subject: [PATCH 098/184] Modify: movement unit to meter, initial_pose --- .../local/local_filter/src/local_filter_LPF.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index f35862e..1d10c97 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -66,7 +66,7 @@ class GlobalFilterNode { cov_multi_[i]=nh_local_->get_parameter("covariance_multi_"+str).as_double(); } - setpose_sub_ = nh_->create_subscription("initialpose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); + setpose_sub_ = nh_->create_subscription("initial_pose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); odom_sub_ = nh_->create_subscription("odoo_googoogoo", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); @@ -167,12 +167,12 @@ class GlobalFilterNode { rclcpp::Clock clock; rclcpp::Time now=clock.now(); double dt=now.seconds()-prev_stamp_.seconds(); - omni_model(linear_x_/1000, linear_y_/1000, angular_z_, dt); + omni_model(linear_x_, linear_y_, angular_z_, dt); prev_stamp_=now; // publish absolute coordinate - coord_odom2map.position.x=init_pose.position.x+odom_msg.angular.x/1000; - coord_odom2map.position.y=init_pose.position.y+odom_msg.angular.y/1000; + coord_odom2map.position.x=init_pose.position.x+odom_msg.angular.x; + coord_odom2map.position.y=init_pose.position.y+odom_msg.angular.y; tf2::Quaternion q; tf2::fromMsg(init_pose.orientation, q); From ad34c307179b6d252e45e3d05387746da1580272 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Tue, 18 Feb 2025 20:34:13 +0800 Subject: [PATCH 099/184] modified: apply camera --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 1642a8a..b66c0dd 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -72,7 +72,7 @@ def __init__(self): self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - # self.create_timer(1, self.camera_callback) + self.create_timer(1, self.camera_callback) self.footprint_publish() From 31e40139c6fb14e9b786c604586ceb77960a6fbb Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Tue, 18 Feb 2025 20:35:21 +0800 Subject: [PATCH 100/184] modified: apply camera(1hz) --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 1642a8a..b66c0dd 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -72,7 +72,7 @@ def __init__(self): self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - # self.create_timer(1, self.camera_callback) + self.create_timer(1, self.camera_callback) self.footprint_publish() From fe2abf7ff5a09d22c3cade2ce8dc198c56ce1af5 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 18 Feb 2025 22:59:06 +0800 Subject: [PATCH 101/184] modified: (testBot) port and image --- docker/testBot/OdomComm/blue_run.sh | 18 +++++++++--------- .../testBot/OdomComm/docker/blue-compose.yml | 8 ++++---- docker/testBot/OdomComm/docker/compose.yml | 4 ++-- .../testBot/OdomComm/docker/yellow-compose.yml | 8 ++++---- docker/testBot/OdomComm/yellow_run.sh | 18 +++++++++--------- 5 files changed, 28 insertions(+), 28 deletions(-) diff --git a/docker/testBot/OdomComm/blue_run.sh b/docker/testBot/OdomComm/blue_run.sh index 445f658..2e09ea8 100755 --- a/docker/testBot/OdomComm/blue_run.sh +++ b/docker/testBot/OdomComm/blue_run.sh @@ -1,19 +1,19 @@ #!/bin/bash ## 0. clean container within same group -echo "=== [COMMUNICATION] Pull & Run ===" -echo "[COMMUNICATION] Remove Containers ..." -docker compose -p communication down --volumes --remove-orphans +#echo "=== [COMMUNICATION] Pull & Run ===" +#echo "[COMMUNICATION] Remove Containers ..." +#docker compose -p communication down --volumes --remove-orphans ## 2. environment setup -export DISPLAY=:0 -xhost +local:docker -cd docker +#export DISPLAY=:0 +#xhost +local:docker +#cd docker ## 3. build image -echo "[COMMUNICATION] Pull Images ..." -docker pull pomelo925/ttennis-humble:communication +#echo "[COMMUNICATION] Pull Images ..." +#docker pull pomelo925/ttennis-humble:communication ## 4. deployment echo "[COMMUNICATION] Deploying..." -docker compose -p communication -f blue-compose.yml up +docker compose -p communication -f docker/blue-compose.yml up diff --git a/docker/testBot/OdomComm/docker/blue-compose.yml b/docker/testBot/OdomComm/docker/blue-compose.yml index 6d5338e..24ac3b3 100644 --- a/docker/testBot/OdomComm/docker/blue-compose.yml +++ b/docker/testBot/OdomComm/docker/blue-compose.yml @@ -38,11 +38,11 @@ services: # Shared Memory - /dev/shm:/dev/shm environment: - - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=25 # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: - image: jossiewang/eurobot2025-localization:ros1-serial + image: jossiewang/eurobot2025-localization:rosserial-ttyusb0-duai container_name: ros1 stdin_open: true tty: true @@ -57,7 +57,7 @@ services: command: /bin/bash -c " source /opt/ros/noetic/setup.bash && source ~/ws/devel/setup.bash && - sudo chmod 777 /dev/ttyACM0 && + sudo chmod 777 /dev/ttyUSB0 && roslaunch odometry odometry_comm.launch" ros2-localization-dev: @@ -84,7 +84,7 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=25 - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - ROS_WS=/home/user/localization-ws volumes: diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index 077bcae..9d5daaa 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -42,7 +42,7 @@ services: # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: - image: jossiewang/eurobot2025-localization:ros1-serial + image: jossiewang/eurobot2025-localization:rosserial-ttyusb0 container_name: ros1 stdin_open: true tty: true @@ -57,7 +57,7 @@ services: command: /bin/bash -c " source /opt/ros/noetic/setup.bash && source ~/ws/devel/setup.bash && - sudo chmod 777 /dev/ttyACM0 && + sudo chmod 777 /dev/ttyUSB0 && roslaunch odometry odometry_comm.launch" ros2-localization-dev: diff --git a/docker/testBot/OdomComm/docker/yellow-compose.yml b/docker/testBot/OdomComm/docker/yellow-compose.yml index 043858e..b1194f1 100644 --- a/docker/testBot/OdomComm/docker/yellow-compose.yml +++ b/docker/testBot/OdomComm/docker/yellow-compose.yml @@ -38,11 +38,11 @@ services: # Shared Memory - /dev/shm:/dev/shm environment: - - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=25 # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: - image: jossiewang/eurobot2025-localization:ros1-serial + image: jossiewang/eurobot2025-localization:rosserial-ttyusb0-duai container_name: ros1 stdin_open: true tty: true @@ -57,7 +57,7 @@ services: command: /bin/bash -c " source /opt/ros/noetic/setup.bash && source ~/ws/devel/setup.bash && - sudo chmod 777 /dev/ttyACM0 && + sudo chmod 777 /dev/ttyUSB0 && roslaunch odometry odometry_comm.launch" ros2-localization-dev: @@ -84,7 +84,7 @@ services: # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html # - ROS_LOCALHOST_ONLY=1 - - ROS_DOMAIN_ID=42 + - ROS_DOMAIN_ID=25 - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - ROS_WS=/home/user/localization-ws volumes: diff --git a/docker/testBot/OdomComm/yellow_run.sh b/docker/testBot/OdomComm/yellow_run.sh index 445f658..93aa0e1 100755 --- a/docker/testBot/OdomComm/yellow_run.sh +++ b/docker/testBot/OdomComm/yellow_run.sh @@ -1,19 +1,19 @@ #!/bin/bash ## 0. clean container within same group -echo "=== [COMMUNICATION] Pull & Run ===" -echo "[COMMUNICATION] Remove Containers ..." -docker compose -p communication down --volumes --remove-orphans +#echo "=== [COMMUNICATION] Pull & Run ===" +#echo "[COMMUNICATION] Remove Containers ..." +#docker compose -p communication down --volumes --remove-orphans ## 2. environment setup -export DISPLAY=:0 -xhost +local:docker -cd docker +#export DISPLAY=:0 +#xhost +local:docker +#cd docker ## 3. build image -echo "[COMMUNICATION] Pull Images ..." -docker pull pomelo925/ttennis-humble:communication +#echo "[COMMUNICATION] Pull Images ..." +#docker pull pomelo925/ttennis-humble:communication ## 4. deployment echo "[COMMUNICATION] Deploying..." -docker compose -p communication -f blue-compose.yml up +docker compose -p communication -f docker/yellow-compose.yml up From 62003b88c9316d0deb28cf32277a5556c2ab4d34 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 18 Feb 2025 23:00:47 +0800 Subject: [PATCH 102/184] modified: (rosserial) topic name and ttyUSB0 --- docker/local-ros2/OdomComm/docker/Dockerfile-rosserial | 6 +++++- .../docker/odometry/odometry/launch/odometry_comm.launch | 4 ++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial b/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial index 1eda1ec..4560487 100644 --- a/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial +++ b/docker/local-ros2/OdomComm/docker/Dockerfile-rosserial @@ -32,7 +32,7 @@ RUN groupadd --gid $USER_GID $USERNAME && \ chmod 0440 /etc/sudoers.d/$USERNAME && \ rm -rf /var/lib/apt/lists/* -FROM user-setup AS final +FROM user-setup AS catkin USER ${USERNAME} # COPY comm-ws /home/$USERNAME/comm-ws @@ -46,6 +46,10 @@ RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro noetic && \ catkin_make" +FROM catkin AS final + +COPY odometry/odometry/launch /home/$USERNAME/ws/src/odometry/launch + ## Final configurations USER $USERNAME CMD ["/bin/bash"] \ No newline at end of file diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch b/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch index 4e40e2f..3861a77 100644 --- a/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch @@ -19,12 +19,12 @@ - + require: - publishers: [ odoo_googoogoo ] + publishers: [ driving_duaiduaiduai, odoo_googoogoo ] subscribers: [ ] From 370605ba89b1ec14e769d3a14e5e53b00b03f74e Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 18 Feb 2025 23:19:01 +0800 Subject: [PATCH 103/184] fix: (lidar_localization_pkg) launch path in setup --- localization-devel-ws/global/lidar_localization_pkg/setup.py | 1 + 1 file changed, 1 insertion(+) diff --git a/localization-devel-ws/global/lidar_localization_pkg/setup.py b/localization-devel-ws/global/lidar_localization_pkg/setup.py index 9120541..578ced9 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/setup.py +++ b/localization-devel-ws/global/lidar_localization_pkg/setup.py @@ -18,6 +18,7 @@ (os.path.join('share', package_name), ['package.xml']), # Include all launch files. (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))), + (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch/firmware', '*launch.[pxy][yma]*'))), # Include all config files. (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.yml'))), ], From b20d5b89aabe303dbead4b0d7cf65b30760c5093 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Tue, 18 Feb 2025 23:40:00 +0800 Subject: [PATCH 104/184] Fix: (local_filter) ensure include folder for git --- localization-devel-ws/local/local_filter/include/blank.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 localization-devel-ws/local/local_filter/include/blank.txt diff --git a/localization-devel-ws/local/local_filter/include/blank.txt b/localization-devel-ws/local/local_filter/include/blank.txt new file mode 100644 index 0000000..e69de29 From 3d59d785b4a11a0e639bcd3bf63d57a491749e36 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 19 Feb 2025 00:13:11 +0800 Subject: [PATCH 105/184] fix: (lidar) lidar launch in view_obstacles_launch --- .../lidar_localization_pkg/launch/view_obstacles_launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml index 544c9b9..60ea57a 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/view_obstacles_launch.xml @@ -2,7 +2,7 @@ - + From 840a1afc9160af96f0dd91267802cd60a06de9b5 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 19 Feb 2025 00:14:13 +0800 Subject: [PATCH 106/184] Modified: (ENV) build sensor-ws in stages --- docker/testBot/Dockerfile | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/docker/testBot/Dockerfile b/docker/testBot/Dockerfile index fdbd70a..721f0bc 100644 --- a/docker/testBot/Dockerfile +++ b/docker/testBot/Dockerfile @@ -97,6 +97,15 @@ WORKDIR /home/user/localization-ws/src/rplidar-ros-driver RUN git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git /home/user/localization-ws/src/rplidar-ros-driver/ RUN git clone -b humble-devel https://github.com/harmony-eu/obstacle_detector_2.git /home/user/localization-ws/src/obstacle_detector_2 +WORKDIR /home/${USERNAME}/localization-ws +# RUN sudo chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/localization-ws +USER ${USERNAME} +RUN sudo apt-get update && \ + rosdep update && \ + rosdep install -y -r -q --from-paths src --ignore-src --rosdistro $ROS_DISTRO && \ + /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --symlink-install' \ + && sudo rm -rf /var/lib/apt/lists/* + ################################################################################################ # - devel-ws build stage # @@ -122,7 +131,7 @@ USER ${USERNAME} RUN sudo apt-get update && \ rosdep update && \ rosdep install -y -r -q --from-paths src --ignore-src --rosdistro $ROS_DISTRO && \ - /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --symlink-install' \ + /bin/bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --symlink-install --packages-ignore imm_filter' \ && sudo rm -rf /var/lib/apt/lists/* RUN rm -rf /home/user/localization-ws/src/localization-devel-ws From 3b8693d4cd5618e2bb9d9489aa382a24266f54ca Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 19 Feb 2025 13:48:31 +0800 Subject: [PATCH 107/184] modified: (odom) use duaiduai for now (odoo is dead due to PCB issue) --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index b66c0dd..1899950 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -91,7 +91,7 @@ def claim_parameters(self): def init_subscribers(self): self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) - self.create_subscription(Twist, 'odoo_googoogoo', self.odom_callback, 10) + self.create_subscription(Twist, 'driving_duaiduaiduai', self.odom_callback, 10) self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) def init_callback(self, msg): From 0d74188c61ae8777a3694191b4cce7083168ffb4 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Wed, 19 Feb 2025 15:31:54 +0800 Subject: [PATCH 108/184] modified: (launch) remap odoo -> driving --- localization-devel-ws/ekf/launch/blue.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/localization-devel-ws/ekf/launch/blue.launch b/localization-devel-ws/ekf/launch/blue.launch index f40af4d..8dc2ec8 100644 --- a/localization-devel-ws/ekf/launch/blue.launch +++ b/localization-devel-ws/ekf/launch/blue.launch @@ -14,6 +14,7 @@ + From bbcaccae135d03d122fa7921893b1b9c41fa642b Mon Sep 17 00:00:00 2001 From: jossiewang Date: Wed, 19 Feb 2025 17:18:34 +0800 Subject: [PATCH 109/184] modified: (lidar) lidar orientation to base notes: use encoder from driving wheel --- localization-devel-ws/ekf/launch/blue.launch | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/localization-devel-ws/ekf/launch/blue.launch b/localization-devel-ws/ekf/launch/blue.launch index 8dc2ec8..444261d 100644 --- a/localization-devel-ws/ekf/launch/blue.launch +++ b/localization-devel-ws/ekf/launch/blue.launch @@ -31,9 +31,11 @@ - - - - + + + + + + \ No newline at end of file From b50be4ae9f5e8ef1bee2fcce4d122aa8a90c44c0 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 13:04:42 +0800 Subject: [PATCH 110/184] modified: (ekf) ekf cov and theta --- localization-devel-ws/ekf/ekf/ekf_node.py | 61 ++++++++++++++--------- 1 file changed, 38 insertions(+), 23 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 1899950..83d1fa0 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -53,16 +53,20 @@ def __init__(self): self.X = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) # State vector: x, y, theta, vx, vy, w self.P = np.eye(6) * 9 * 1e-4 - self.P[5, 5] = 0.003 - self.P[2, 2] = 1e-6 - self.P[3, 3] = 1e-6 - self.P[4, 4] = 1e-6 + self.P[2, 2] = 0.003 # theta + self.P[3, 3] = 1e-6 # vx + self.P[4, 4] = 1e-6 # vy + self.P[5, 5] = 1e-6 # w self.Q = np.eye(6) * 5 * 1e-11 - self.Q[5, 5] = 3 * 1e-5 - self.Q[2, 2] = 1e-6 - self.Q[3, 3] = 1e-6 - self.Q[4, 4] = 1e-6 + # self.Q[2, 2] = 3 * 1e-5 + # self.Q[3, 3] = 1e-6 + # self.Q[4, 4] = 1e-6 + # self.Q[5, 5] = 1e-6 + + self.Q[3, 3] = 1e-5 # vx + self.Q[4, 4] = 1e-5 # vy + self.Q[5, 5] = 1e-11 # w self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 @@ -72,7 +76,7 @@ def __init__(self): self.init_subscribers() self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) # self.create_timer(1.0 / self.rate, self.footprint_publish) - self.create_timer(1, self.camera_callback) + # self.create_timer(1, self.camera_callback) self.footprint_publish() @@ -80,7 +84,7 @@ def __init__(self): def claim_parameters(self): self.declare_parameter('robot_parent_frame_id', 'map') self.declare_parameter('robot_frame_id', 'base_footprint') - self.declare_parameter('camera_frame_id', 'marker_6') + self.declare_parameter('camera_frame_id', 'aruco_marker_frame') self.declare_parameter('camera_parent_id', 'map') self.parent_frame_id = self.get_parameter('robot_parent_frame_id').value @@ -91,8 +95,8 @@ def claim_parameters(self): def init_subscribers(self): self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) - self.create_subscription(Twist, 'driving_duaiduaiduai', self.odom_callback, 10) self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) + self.create_subscription(Odometry, 'local_filter', self.local_callback, 10) def init_callback(self, msg): @@ -102,12 +106,12 @@ def init_callback(self, msg): msg.pose.orientation.z, msg.pose.orientation.w ) - self.X[5] = theta + self.X[2] = theta if msg.covariance[0] > 0: if msg.covariance[0] < 1: self.P[0, 0] = msg.covariance[0] self.P[1, 1] = msg.covariance[7] - self.P[5, 5] = msg.covariance[35] + self.P[2, 2] = msg.covariance[35] self.X[0] = msg.pose.position.x self.X[1] = msg.pose.position.y @@ -156,14 +160,25 @@ def camera_callback(self): except TransformException as ex: self.get_logger().warn(f"TransformException in camera_callback: {ex}") - def odom_callback(self, msg): + # def odom_callback(self, msg): + # current_time = self.get_clock().now().nanoseconds / 1e9 + # dt = current_time - self.last_odom_time + # self.last_odom_time = current_time + + # v_x = msg.linear.x + # v_y = msg.linear.y + # w = msg.angular.z + # # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") + # self.ekf_predict(v_x, v_y, w, dt) + + def local_callback(self, msg): current_time = self.get_clock().now().nanoseconds / 1e9 dt = current_time - self.last_odom_time self.last_odom_time = current_time - v_x = msg.linear.x - v_y = msg.linear.y - w = msg.angular.z + v_x = msg.twist.twist.linear.x + v_y = msg.twist.twist.linear.y + w = msg.twist.twist.angular.z # self.get_logger().info(f"dTime:{dt}, d_x:{delta_x}") self.ekf_predict(v_x, v_y, w, dt) @@ -178,8 +193,8 @@ def ekf_predict(self, v_x, v_y, w, dt): self.X[0] += v_x * dt * math.cos(theta) - v_y * dt * math.sin(theta) self.X[1] += v_x * dt * math.sin(theta) + v_y * dt * math.cos(theta) - self.X[5] += w * dt - self.X[5] = normalize_angle(self.X[5]) + self.X[2] += w * dt + self.X[2] = normalize_angle(self.X[2]) self.P = F @ self.P @ F.T + self.Q @@ -193,12 +208,12 @@ def ekf_update(self, z, R): H = np.zeros((3, 6)) H[0, 0] = 1 H[1, 1] = 1 - H[2, 5] = 1 + H[2, 2] = 1 S = H @ self.P @ H.T + R K = self.P @ H.T @ np.linalg.inv(S) self.X += K @ (z - H @ self.X) - self.X[5] = normalize_angle(self.X[5]) + self.X[2] = normalize_angle(self.X[2]) I = np.eye(6) self.P = (I - K @ H) @ self.P @ (I - K @ H).T + K @ R @ K.T @@ -217,7 +232,7 @@ def footprint_publish(self): t.transform.translation.x = self.X[0] t.transform.translation.y = self.X[1] t.transform.translation.z = 0.0 - quat = quaternion_from_euler(0, 0, self.X[5]) + quat = quaternion_from_euler(0, 0, self.X[2]) t.transform.rotation.x = quat[0] t.transform.rotation.y = quat[1] t.transform.rotation.z = quat[2] @@ -234,7 +249,7 @@ def footprint_publish(self): self.final_pose.pose.pose.orientation.w = quat[3] self.final_pose.pose.covariance[0] = self.P[0, 0] self.final_pose.pose.covariance[7] = self.P[1, 1] - self.final_pose.pose.covariance[35] = self.P[5, 5] + self.final_pose.pose.covariance[35] = self.P[2, 2] self.ekf_pose_publisher.publish(self.final_pose) From 52d33b7868c40bead97ff218ff7bc7c7b38a5727 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 13:12:56 +0800 Subject: [PATCH 111/184] Add: (launch) use local_filter --- localization-devel-ws/ekf/launch/blue.launch | 3 ++- .../local/local_filter/launch/local_filter_whole.xml | 1 + .../local/local_filter/src/local_filter_LPF.cpp | 8 ++++---- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/localization-devel-ws/ekf/launch/blue.launch b/localization-devel-ws/ekf/launch/blue.launch index 444261d..b8524fa 100644 --- a/localization-devel-ws/ekf/launch/blue.launch +++ b/localization-devel-ws/ekf/launch/blue.launch @@ -14,7 +14,6 @@ - @@ -38,4 +37,6 @@ + + \ No newline at end of file diff --git a/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml b/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml index 7f51c62..ca26f3b 100644 --- a/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml +++ b/localization-devel-ws/local/local_filter/launch/local_filter_whole.xml @@ -39,6 +39,7 @@ + diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index 1d10c97..c5b8b21 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -70,8 +70,8 @@ class GlobalFilterNode { odom_sub_ = nh_->create_subscription("odoo_googoogoo", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); - global_filter_pub_ = nh_->create_publisher("local_filter", 100); - odom2map_pub_=nh_->create_publisher("odom2map", 100); + global_filter_pub_ = nh_->create_publisher("local_filter", 10); + odom2map_pub_=nh_->create_publisher("odom2map", 10); } @@ -153,7 +153,7 @@ class GlobalFilterNode { // Apply low-pass filter to linear xy from odom linear_x_ = alpha_x * odom_msg.linear.x + (1 - alpha_x) * linear_x_; linear_y_ = alpha_y * odom_msg.linear.y + (1 - alpha_y) * linear_y_; - angular_z_=odom_msg.angular.z; + // angular_z_=odom_msg.angular.z; double cov_multi[3]; cov_multi[0]=cov_multi_[0]*abs(odom_msg.linear.x); @@ -188,7 +188,7 @@ class GlobalFilterNode { } void imuCallback(const sensor_msgs::msg::Imu & imu_msg) { - // angular_z_ = imu_msg.angular_velocity.z; + angular_z_ = imu_msg.angular_velocity.z; // rclcpp::Time stamp=imu_msg.header.stamp; /* */ // double dt=stamp.seconds()-prev_stamp_.seconds(); /* */ // omni_model(linear_x_, linear_y_, angular_z_, dt); /* */ From c80c8f45a79004779789ceb4cd64c552050c79d8 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 13:14:39 +0800 Subject: [PATCH 112/184] Modified: yellow.launch --- localization-devel-ws/ekf/launch/yellow.launch | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/localization-devel-ws/ekf/launch/yellow.launch b/localization-devel-ws/ekf/launch/yellow.launch index d1901a6..f4e27a8 100644 --- a/localization-devel-ws/ekf/launch/yellow.launch +++ b/localization-devel-ws/ekf/launch/yellow.launch @@ -30,9 +30,13 @@ - + + + + + + - - + \ No newline at end of file From ebcac6318e4733c6328128fc2fafec0cea9e068a Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 15:24:50 +0800 Subject: [PATCH 113/184] Fixed:(ekf) omni model orientation --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 83d1fa0..8e22284 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -183,7 +183,7 @@ def local_callback(self, msg): self.ekf_predict(v_x, v_y, w, dt) def ekf_predict(self, v_x, v_y, w, dt): - theta = self.X[5] + theta = self.X[2] F = np.eye(6) F[0, 3] = dt * math.cos(theta) F[0, 4] = - dt * math.sin(theta) From b823daa5905da189054632aec0b8014344988bf7 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 15:49:16 +0800 Subject: [PATCH 114/184] Modified: (udev) /dev/lidar --- .../lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py b/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py index 8e52c6f..276b66a 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/firmware/rplidar_s3_launch.py @@ -12,7 +12,7 @@ def generate_launch_description(): channel_type = LaunchConfiguration('channel_type', default='serial') - serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB1') + serial_port = LaunchConfiguration('serial_port', default='/dev/lidar') serial_baudrate = LaunchConfiguration('serial_baudrate', default='1000000') frame_id = LaunchConfiguration('frame_id', default='laser') inverted = LaunchConfiguration('inverted', default='false') From cf07161d9d594bd1fb46d2774ea4381e46cff349 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 16:19:21 +0800 Subject: [PATCH 115/184] Modified: udev name --- docker/testBot/OdomComm/docker/blue-compose.yml | 4 ++-- docker/testBot/OdomComm/docker/yellow-compose.yml | 5 ++--- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/docker/testBot/OdomComm/docker/blue-compose.yml b/docker/testBot/OdomComm/docker/blue-compose.yml index 24ac3b3..becf2c9 100644 --- a/docker/testBot/OdomComm/docker/blue-compose.yml +++ b/docker/testBot/OdomComm/docker/blue-compose.yml @@ -42,7 +42,7 @@ services: # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: - image: jossiewang/eurobot2025-localization:rosserial-ttyusb0-duai + image: jossiewang/eurobot2025-localization:rosserial-chassis container_name: ros1 stdin_open: true tty: true @@ -66,7 +66,7 @@ services: dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros2-built # TODO: make a ros-ws-built image + image: jossiewang/eurobot2025-localization:testbot-release # TODO: make a ros-ws-built image container_name: localization-2025-dev-ros2 stdin_open: true tty: true diff --git a/docker/testBot/OdomComm/docker/yellow-compose.yml b/docker/testBot/OdomComm/docker/yellow-compose.yml index b1194f1..5972c38 100644 --- a/docker/testBot/OdomComm/docker/yellow-compose.yml +++ b/docker/testBot/OdomComm/docker/yellow-compose.yml @@ -42,7 +42,7 @@ services: # - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp=value ros1: - image: jossiewang/eurobot2025-localization:rosserial-ttyusb0-duai + image: jossiewang/eurobot2025-localization:rosserial-chassis container_name: ros1 stdin_open: true tty: true @@ -57,7 +57,6 @@ services: command: /bin/bash -c " source /opt/ros/noetic/setup.bash && source ~/ws/devel/setup.bash && - sudo chmod 777 /dev/ttyUSB0 && roslaunch odometry odometry_comm.launch" ros2-localization-dev: @@ -66,7 +65,7 @@ services: dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros2-built # TODO: make a ros-ws-built image + image: jossiewang/eurobot2025-localization:testbot-release # TODO: make a ros-ws-built image container_name: localization-2025-dev-ros2 stdin_open: true tty: true From ddf7e88f1f156278f4fc1db4191a5283be2815e8 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 20 Feb 2025 16:38:04 +0800 Subject: [PATCH 116/184] Modified: (ENV) for dev port name --- .../docker/odometry/odometry/launch/odometry_comm.launch | 2 +- docker/testBot/Dockerfile | 2 +- docker/testBot/OdomComm/docker/compose.yml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch b/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch index 3861a77..a330490 100644 --- a/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch +++ b/docker/local-ros2/OdomComm/docker/odometry/odometry/launch/odometry_comm.launch @@ -19,7 +19,7 @@ - + diff --git a/docker/testBot/Dockerfile b/docker/testBot/Dockerfile index 721f0bc..fe54ef7 100644 --- a/docker/testBot/Dockerfile +++ b/docker/testBot/Dockerfile @@ -113,7 +113,7 @@ RUN sudo apt-get update && \ FROM lidar-dep AS devel-ws WORKDIR /home/user/temp -RUN git clone -b devel https://github.com/DIT-ROBOTICS/Eurobot-2025-Localization.git /home/user/temp/Eurobot-2025-Localization +RUN git clone -b release https://github.com/DIT-ROBOTICS/Eurobot-2025-Localization.git /home/user/temp/Eurobot-2025-Localization RUN mv /home/user/temp/Eurobot-2025-Localization/localization-devel-ws /home/user/localization-ws/src/localization-devel-ws RUN rm -rf /home/user/temp diff --git a/docker/testBot/OdomComm/docker/compose.yml b/docker/testBot/OdomComm/docker/compose.yml index 9d5daaa..86c7878 100644 --- a/docker/testBot/OdomComm/docker/compose.yml +++ b/docker/testBot/OdomComm/docker/compose.yml @@ -66,7 +66,7 @@ services: dockerfile: Dockerfile args: USERNAME: user - image: jossiewang/eurobot2025-localization:testBot-ros2-built # TODO: make a ros-ws-built image + image: jossiewang/eurobot2025-localization:testbot-release # TODO: make a ros-ws-built image container_name: localization-2025-dev-ros2 stdin_open: true tty: true From 95ecdaf029c9573309c06184e367b8afdb4950f0 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 27 Feb 2025 12:14:08 +0800 Subject: [PATCH 117/184] Modified: (ekf) update covariance formula --- localization-devel-ws/ekf/ekf/ekf_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 8e22284..135dab1 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -216,7 +216,7 @@ def ekf_update(self, z, R): self.X[2] = normalize_angle(self.X[2]) I = np.eye(6) - self.P = (I - K @ H) @ self.P @ (I - K @ H).T + K @ R @ K.T + self.P = (I - K @ H) @ self.P @ (I - K @ H).T # if (self.P[0, 0] > 1) | (self.P[1, 1] > 1 ) | (self.P[2, 2] > 1) : # self.get_logger().warn(f"large Cov_update:{self.P[0, 0]},{self.P[1, 1]},{self.P[2, 2]}") From 64adbee59ced94a9e851a9faa544851f5247a403 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 27 Feb 2025 12:16:35 +0800 Subject: [PATCH 118/184] Modified: (udev) no need for usb.sh --- docker/testBot/OdomComm/docker/blue-compose.yml | 3 --- docker/testBot/OdomComm/docker/yellow-compose.yml | 3 --- 2 files changed, 6 deletions(-) diff --git a/docker/testBot/OdomComm/docker/blue-compose.yml b/docker/testBot/OdomComm/docker/blue-compose.yml index becf2c9..956eec1 100644 --- a/docker/testBot/OdomComm/docker/blue-compose.yml +++ b/docker/testBot/OdomComm/docker/blue-compose.yml @@ -102,9 +102,6 @@ services: # Mount workspace - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws command: /bin/bash -c " - cd /home/user/localization-ws/src/localization-devel-ws && - sudo chmod +x usb.sh && - ./usb.sh && source /opt/ros/humble/setup.bash && source /home/user/localization-ws/install/setup.bash && ros2 launch /home/user/localization-ws/src/localization-devel-ws/ekf/launch/blue.launch" \ No newline at end of file diff --git a/docker/testBot/OdomComm/docker/yellow-compose.yml b/docker/testBot/OdomComm/docker/yellow-compose.yml index 5972c38..b898da2 100644 --- a/docker/testBot/OdomComm/docker/yellow-compose.yml +++ b/docker/testBot/OdomComm/docker/yellow-compose.yml @@ -101,9 +101,6 @@ services: # Mount workspace - ../../../../localization-devel-ws:/home/user/localization-ws/src/localization-devel-ws command: /bin/bash -c " - cd /home/user/localization-ws/src/localization-devel-ws && - sudo chmod +x usb.sh && - ./usb.sh && source /opt/ros/humble/setup.bash && source /home/user/localization-ws/install/setup.bash && ros2 launch /home/user/localization-ws/src/localization-devel-ws/ekf/launch/yellow.launch" \ No newline at end of file From 8feddfac46f61a2929cfd8ec79424f5e0326730c Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 27 Feb 2025 12:17:31 +0800 Subject: [PATCH 119/184] Modified:(lidar) obstacle extractor params notes: - for max separation, distinguish people and beacons --- .../lidar_localization_pkg/launch/obstacle_extractor_launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml index 6b717dc..8b2cc67 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml +++ b/localization-devel-ws/global/lidar_localization_pkg/launch/obstacle_extractor_launch.xml @@ -19,7 +19,7 @@ - + From e3b06def4e68fec4e2b1d3393694056350c51b34 Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 27 Feb 2025 13:32:59 +0800 Subject: [PATCH 120/184] Modified: (lidar) use TF to get predict @scantime --- .../lidar_member_function.py | 66 ++++++++++++++----- 1 file changed, 49 insertions(+), 17 deletions(-) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 574c5be..78516e5 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -1,6 +1,8 @@ import rclpy from rclpy.node import Node +from tf2_ros import Buffer, TransformListener, LookupException, ConnectivityException, ExtrapolationException + from geometry_msgs.msg import PoseWithCovarianceStamped from obstacle_detector.msg import Obstacles from visualization_msgs.msg import Marker, MarkerArray @@ -19,6 +21,8 @@ def __init__(self): self.declare_parameter('visualize_candidate', True) self.declare_parameter('likelihood_threshold', 0.001) self.declare_parameter('consistency_threshold', 0.9) + self.declare_parameter('robot_frame_id', 'base_footprint') + self.declare_parameter('robot_parent_frame_id', 'map') # Get parameters self.side = self.get_parameter('side').get_parameter_value().integer_value @@ -26,6 +30,8 @@ def __init__(self): self.visualize_candidate = self.get_parameter('visualize_candidate').get_parameter_value().bool_value self.likelihood_threshold = self.get_parameter('likelihood_threshold').get_parameter_value().double_value self.consistency_threshold = self.get_parameter('consistency_threshold').get_parameter_value().double_value + self.robot_frame_id = self.get_parameter('robot_frame_id').get_parameter_value().string_value + self.robot_parent_frame_id = self.get_parameter('robot_parent_frame_id').get_parameter_value().string_value # Set the landmarks map based on the side if self.side == 0: @@ -53,7 +59,7 @@ def __init__(self): 'raw_obstacles', self.obstacle_callback, 10) - self.subscription = self.create_subscription( + self.subscription = self.create_subscription( # if TF is not available PoseWithCovarianceStamped, 'final_pose', self.pred_pose_callback, @@ -68,28 +74,53 @@ def __init__(self): ) self.subscription # prevent unused variable warning + # tf2 buffer + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + # ros debug logger self.get_logger().debug('Lidar Localization Node has been initialized') self.init_landmarks_map(self.landmarks_map) self.robot_pose = [] - self.P_pred = [] + self.P_pred = np.array([[0.05**2, 0.0, 0.0], [0.0, 0.05**2, 0.0], [0.0, 0.0, 0.1]]) # TODO: tune the value, fixed for now self.newPose = False - self.R = np.array([[0.05**2, 0.0], [0.0, 0.05**2]]) # R: measurement noise; TODO: tune the value + self.R = np.array([[0.001, 0.0], [0.0, 0.001]]) # measurement noise; TODO: tune the value self.lidar_pose_msg = PoseWithCovarianceStamped() + self.predict_transform = None - def obstacle_callback(self, msg): + def obstacle_callback(self, msg): # main self.get_logger().debug('obstacle detected') - # obstacle operation self.obs_raw = [] for obs in msg.circles: self.obs_raw.append(np.array([obs.center.x, obs.center.y])) self.obs_time = msg.header.stamp + # check if TF is available. If true, use the TF. If false, use the latest topic + try: + self.predict_transform = self.tf_buffer.lookup_transform( + self.robot_parent_frame_id, + self.robot_frame_id, + self.obs_time + ) + self.robot_pose = np.array([ + self.predict_transform.transform.translation.x, + self.predict_transform.transform.translation.y, + euler_from_quaternion( + self.predict_transform.transform.rotation.x, + self.predict_transform.transform.rotation.y, + self.predict_transform.transform.rotation.z, + self.predict_transform.transform.rotation.w + ) + ]) + except (LookupException, ConnectivityException, ExtrapolationException) as e: + self.get_logger().error(f'Could not transform {self.robot_parent_frame_id} to {self.robot_frame_id}: {e}') + self.get_logger().debug("now try to use the latest topic") + if self.newPose == False: + self.get_logger().error("no new predict topic, skip.") + return + # data processing - if self.newPose == False: # Check if robot_pose or P_pred is empty - self.get_logger().debug("no new robot pose or P_pred") - return - self.landmarks_candidate = self.get_landmarks_candidate(self.landmarks_map, self.obs_raw, self.robot_pose, self.P_pred, self.R) + self.landmarks_candidate = self.get_landmarks_candidate(self.landmarks_map, self.obs_raw) self.landmarks_set = self.get_landmarks_set(self.landmarks_candidate) if len(self.landmarks_set) == 0: self.get_logger().debug("empty landmarks set") @@ -99,7 +130,6 @@ def obstacle_callback(self, msg): self.clear_data() def pred_pose_callback(self, msg): - # self.get_logger().debug("Robot pose callback triggered") self.newPose = True orientation = euler_from_quaternion(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w) # raw, pitch, *yaw # check orientation range @@ -149,14 +179,15 @@ def init_landmarks_map(self, landmarks_map): def clear_data(self): self.obs_raw = [] self.robot_pose = np.array([]) - self.P_pred = np.array([]) self.landmarks_candidate = [] self.landmarks_set = [] self.newPose = False - def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): + def get_obs_candidate(self, landmark, obs_raw): obs_candidates = [] - x_r, y_r, phi_r = robot_pose + x_r, y_r, phi_r = self.robot_pose + if self.debug_mode: + print(f"Robot pose from TF: {self.robot_pose}") x_o, y_o = landmark r_prime = np.sqrt((x_o - x_r) ** 2 + (y_o - y_r) ** 2) # theta_rob = np.arctan2( @@ -167,7 +198,7 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): [-(x_o - x_r) / r_prime, -(y_o - y_r) / r_prime, 0], [(y_o - y_r) / r_prime ** 2, -(x_o - x_r) / r_prime ** 2, -1] ]) - S = H @ P_pred @ H.T + R + S = H @ self.P_pred @ H.T + self.R S_inv = np.linalg.inv(S) S_det = np.linalg.det(S) normalizer = 1 / np.sqrt((2 * np.pi) ** 2 * S_det) @@ -227,14 +258,14 @@ def get_obs_candidate(self, robot_pose, P_pred, R, landmark, obs_raw): return obs_candidates - def get_landmarks_candidate(self, landmarks_map, obs_raw, robot_pose, P_pred, R): + def get_landmarks_candidate(self, landmarks_map, obs_raw): landmarks_candidate = [] self.beacon_no = 0 for landmark in landmarks_map: self.beacon_no += 1 candidate = { 'landmark': landmark, - 'obs_candidates': self.get_obs_candidate(robot_pose, P_pred, R, landmark, obs_raw) + 'obs_candidates': self.get_obs_candidate(landmark, obs_raw) } landmarks_candidate.append(candidate) # print landmarks_candidate for debug @@ -341,7 +372,8 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): ] # self.get_logger().debug(f"lidar_pose: {lidar_pose}") self.lidar_pose_pub.publish(self.lidar_pose_msg) - # self.get_logger().debug("Published lidar_pose message") + if self.debug_mode: + print(f"lidar_pose: {lidar_pose}") except np.linalg.LinAlgError as e: self.get_logger().warn("Linear algebra error: {}".format(e)) From be4dcdffbb2f6ce3111e6bcd83060a029690ad0d Mon Sep 17 00:00:00 2001 From: jossiewang Date: Thu, 27 Feb 2025 13:34:18 +0800 Subject: [PATCH 121/184] Add: (lidar) TF compensation for lidar_pose --- .../lidar_member_function.py | 39 +++++++++++++++++++ 1 file changed, 39 insertions(+) diff --git a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py index 78516e5..286296f 100644 --- a/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py +++ b/localization-devel-ws/global/lidar_localization_pkg/lidar_localization_pkg/lidar_member_function.py @@ -182,6 +182,7 @@ def clear_data(self): self.landmarks_candidate = [] self.landmarks_set = [] self.newPose = False + self.predict_transform = None def get_obs_candidate(self, landmark, obs_raw): obs_candidates = [] @@ -348,6 +349,8 @@ def get_lidar_pose(self, landmarks_set, landmarks_map): lidar_pose[2] = angle_limit_checking(np.arctan2(robot_sin, robot_cos)) + self.pose_compensation(lidar_pose) + lidar_cov[0, 0] /= max_likelihood lidar_cov[1, 1] /= max_likelihood lidar_cov[2, 2] /= max_likelihood @@ -401,6 +404,42 @@ def get_geometry_consistency(self, beacons): # if the index is not found in map, it is probably on the lower triangle of the matrix return consistency + + def pose_compensation(self, lidar_pose): + # find the translation and rotation from obs_time to now using TF + try: + now_transform = self.tf_buffer.lookup_transform( # get the latest transform + self.robot_parent_frame_id, + self.robot_frame_id, + rclpy.time.Time(), + timeout=rclpy.duration.Duration(seconds=0.1) + ) + relative_transform = now_transform + relative_transform.transform.translation.x -= self.predict_transform.transform.translation.x + relative_transform.transform.translation.y -= self.predict_transform.transform.translation.y + # find the relative rotation + q1_inv = [ + self.predict_transform.transform.rotation.x, + self.predict_transform.transform.rotation.y, + self.predict_transform.transform.rotation.z, + -self.predict_transform.transform.rotation.w # Negate for inverse + ] + + q0 = now_transform.transform.rotation + qr = [ + q0.x * q1_inv[3] + q0.w * q1_inv[0] + q0.y * q1_inv[2] - q0.z * q1_inv[1], + q0.y * q1_inv[3] + q0.w * q1_inv[1] + q0.z * q1_inv[0] - q0.x * q1_inv[2], + q0.z * q1_inv[3] + q0.w * q1_inv[2] + q0.x * q1_inv[1] - q0.y * q1_inv[0], + q0.w * q1_inv[3] - q0.x * q1_inv[0] - q0.y * q1_inv[1] - q0.z * q1_inv[2] + ] + + lidar_pose[0] += relative_transform.transform.translation.x + lidar_pose[1] += relative_transform.transform.translation.y + lidar_pose[2] += euler_from_quaternion(qr[0], qr[1], qr[2], qr[3]) + except (LookupException, ConnectivityException, ExtrapolationException) as e: + self.get_logger().error(f'Could not transform {self.robot_parent_frame_id} to {self.robot_frame_id}: {e}') + self.get_logger().error("Could not transform the robot pose") + return def quaternion_from_euler(ai, aj, ak): ai /= 2.0 From 534cec82a4737f72e8a066b8b305ab9e541a6126 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 3 Mar 2025 14:11:12 +0800 Subject: [PATCH 122/184] fix: (local) timestamped --- .../local_filter/src/local_filter_LPF.cpp | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index c5b8b21..a1c64ba 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -66,7 +66,7 @@ class GlobalFilterNode { cov_multi_[i]=nh_local_->get_parameter("covariance_multi_"+str).as_double(); } - setpose_sub_ = nh_->create_subscription("initial_pose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); + setpose_sub_ = nh_->create_subscription("initial_pose", 50, std::bind(&GlobalFilterNode::setposeCallback, this, std::placeholders::_1)); odom_sub_ = nh_->create_subscription("odoo_googoogoo", 10, std::bind(&GlobalFilterNode::odomCallback, this, std::placeholders::_1)); imu_sub_ = nh_->create_subscription("imu/data_cov", 10, std::bind(&GlobalFilterNode::imuCallback, this, std::placeholders::_1)); @@ -115,18 +115,22 @@ class GlobalFilterNode { void setposeCallback(const geometry_msgs::msg::PoseWithCovarianceStamped & pose_msg) { - double x = pose_msg.pose.pose.position.x; - double y = pose_msg.pose.pose.position.y; + double x = pose_msg.pose.position.x; + double y = pose_msg.pose.position.y; init_pose.position.x=x; init_pose.position.y=y; - init_pose.orientation.x=pose_msg.pose.pose.orientation.x; - init_pose.orientation.y=pose_msg.pose.pose.orientation.y; - init_pose.orientation.z=pose_msg.pose.pose.orientation.z; - init_pose.orientation.w=pose_msg.pose.pose.orientation.w; + init_pose.orientation.x=pose_msg.pose.orientation.x; + init_pose.orientation.y=pose_msg.pose.orientation.y; + init_pose.orientation.z=pose_msg.pose.orientation.z; + init_pose.orientation.w=pose_msg.pose.orientation.w; + + rclcpp::Clock clock; + rclcpp::Time now=clock.now(); + prev_stamp_=now; tf2::Quaternion q; - tf2::fromMsg(pose_msg.pose.pose.orientation, q); + tf2::fromMsg(pose_msg.pose.orientation, q); tf2::Matrix3x3 qt(q); double _, yaw; qt.getRPY(_, _, yaw); From 18128776021ce20de43f36152505fe55765cb01c Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 3 Mar 2025 14:11:38 +0800 Subject: [PATCH 123/184] add: (ekf) create_timerr for Camera callback --- localization-devel-ws/ekf/ekf/ekf_node.py | 95 ++++++++++++++--------- 1 file changed, 59 insertions(+), 36 deletions(-) diff --git a/localization-devel-ws/ekf/ekf/ekf_node.py b/localization-devel-ws/ekf/ekf/ekf_node.py index 135dab1..f65f7e9 100644 --- a/localization-devel-ws/ekf/ekf/ekf_node.py +++ b/localization-devel-ws/ekf/ekf/ekf_node.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import math -from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped, Twist, PoseWithCovariance +from geometry_msgs.msg import TransformStamped, PoseWithCovarianceStamped, PoseStamped, PoseWithCovariance from nav_msgs.msg import Odometry import numpy as np @@ -70,33 +70,36 @@ def __init__(self): self.R_gps = np.eye(3) * 1e-2 self.R_camera = np.eye(3) * 1e-2 - self.R_camera[2, 2] = 9 + self.R_camera[2, 2] = 3 self.last_odom_time = self.get_clock().now().nanoseconds / 1e9 - self.init_subscribers() - self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 10) - # self.create_timer(1.0 / self.rate, self.footprint_publish) - # self.create_timer(1, self.camera_callback) - - self.footprint_publish() + self.init_topics() + self.footprint_publish() + self.create_timer(1.0 / self.rate, self.camera_callback) + def claim_parameters(self): self.declare_parameter('robot_parent_frame_id', 'map') self.declare_parameter('robot_frame_id', 'base_footprint') - self.declare_parameter('camera_frame_id', 'aruco_marker_frame') - self.declare_parameter('camera_parent_id', 'map') + self.declare_parameter('update_rate', 1) self.parent_frame_id = self.get_parameter('robot_parent_frame_id').value self.child_frame_id = self.get_parameter('robot_frame_id').value - self.camera_frame_id = self.get_parameter('camera_frame_id').value - self.camera_parent_id = self.get_parameter('camera_parent_id').value - # self.rate = self.get_parameter('update_rate').value - - def init_subscribers(self): - self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 10) - self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,10) - self.create_subscription(Odometry, 'local_filter', self.local_callback, 10) + self.rate = self.get_parameter('update_rate').value + + # self.declare_parameter('camera_frame_id', 'aruco_marker_frame') + # self.declare_parameter('camera_parent_id', 'map') + # self.camera_frame_id = self.get_parameter('camera_frame_id').value + # self.camera_parent_id = self.get_parameter('camera_parent_id').value + + def init_topics(self): + self.create_subscription(PoseWithCovarianceStamped, 'lidar_pose', self.gps_callback, 1) + self.create_subscription(PoseWithCovariance, 'initial_pose', self.init_callback,1) + self.create_subscription(Odometry, 'local_filter', self.local_callback, 1) + self.create_subscription(PoseStamped, '/ceiling_robot/pose', self.camera_callback, 1) + self.ekf_pose_publisher = self.create_publisher(PoseWithCovarianceStamped, 'final_pose', 1) + def init_callback(self, msg): @@ -141,24 +144,44 @@ def gps_callback(self, msg): self.ekf_update(gps_measurement, self.R_gps) - def camera_callback(self): - now = self.get_clock().now().nanoseconds / 1e9 - # self.get_logger().info(f"Camera callback triggered at: {now}") - try: - t = self.tf_buffer.lookup_transform( - self.camera_parent_id, - self.camera_frame_id, - rclpy.time.Time() - ) - trans = t.transform.translation - rot = t.transform.rotation - theta = euler_from_quaternion(rot.x, rot.y, rot.z, rot.w) - - camera_measurement = np.array([trans.x, trans.y, theta]) - # self.get_logger().info(f"Camera transform: x={trans.x}, y={trans.y}, theta={theta}") - self.ekf_update(camera_measurement, self.R_camera) - except TransformException as ex: - self.get_logger().warn(f"TransformException in camera_callback: {ex}") + def camera_callback(self, msg): + cam_time = msg.header.stamp.sec + msg.header.stamp.nanosec * 1e-9 + current_time = self.get_clock().now().nanoseconds / 1e9 + if abs(current_time - cam_time) > 1.5: # GPS data too old + # self.get_logger().info(f"Current time: {current_time}, GPS time: {gps_time}") + return + + if is_invalid_data(msg.pose.position.x, msg.pose.position.y): + # self.get_logger().info("Invalid GPS data received") + return + + theta = euler_from_quaternion( + msg.pose.orientation.x, + msg.pose.orientation.y, + msg.pose.orientation.z, + msg.pose.orientation.w + ) + cam_measurement = np.array([msg.pose.position.x, msg.pose.position.y, theta]) + self.ekf_update(cam_measurement, self.R_camera) + # now = self.get_clock().now().nanoseconds / 1e9 + # # self.get_logger().info(f"Camera callback triggered at: {now}") + # try: + # t = self.tf_buffer.lookup_transform( + # self.camera_parent_id, + # self.camera_frame_id, + # rclpy.time.Time() + # ) + # trans = t.transform.translation + # rot = t.transform.rotation + # theta = euler_from_quaternion(rot.x, rot.y, rot.z, rot.w) + + # camera_measurement = np.array([trans.x, trans.y, theta]) + # # self.get_logger().info(f"Camera transform: x={trans.x}, y={trans.y}, theta={theta}") + # self.ekf_update(camera_measurement, self.R_camera) + # except TransformException as ex: + # self.get_logger().warn(f"TransformException in camera_callback: {ex}") + + # def odom_callback(self, msg): # current_time = self.get_clock().now().nanoseconds / 1e9 From 59cc60d99187295bb4f6a3ae3b6deac1c687cecf Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 3 Mar 2025 15:00:44 +0800 Subject: [PATCH 124/184] fix: (local) topic type --- .../local/local_filter/src/local_filter_LPF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index a1c64ba..6067e77 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -113,7 +113,7 @@ class GlobalFilterNode { robotstate_.mu = A * robotstate_.mu + B * d_state; } - void setposeCallback(const geometry_msgs::msg::PoseWithCovarianceStamped & pose_msg) + void setposeCallback(const geometry_msgs::msg::PoseWithCovariance & pose_msg) { double x = pose_msg.pose.position.x; double y = pose_msg.pose.position.y; From f600c2a0612e98e8da0c13dc693116ce09180df4 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 3 Mar 2025 15:00:57 +0800 Subject: [PATCH 125/184] modified: (docker) devel_ws branch --- docker/testBot/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/testBot/Dockerfile b/docker/testBot/Dockerfile index fe54ef7..721f0bc 100644 --- a/docker/testBot/Dockerfile +++ b/docker/testBot/Dockerfile @@ -113,7 +113,7 @@ RUN sudo apt-get update && \ FROM lidar-dep AS devel-ws WORKDIR /home/user/temp -RUN git clone -b release https://github.com/DIT-ROBOTICS/Eurobot-2025-Localization.git /home/user/temp/Eurobot-2025-Localization +RUN git clone -b devel https://github.com/DIT-ROBOTICS/Eurobot-2025-Localization.git /home/user/temp/Eurobot-2025-Localization RUN mv /home/user/temp/Eurobot-2025-Localization/localization-devel-ws /home/user/localization-ws/src/localization-devel-ws RUN rm -rf /home/user/temp From bb8aae936c8013d0c9fe5e0fe303f08a06390644 Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 3 Mar 2025 15:09:44 +0800 Subject: [PATCH 126/184] modified: (local) init_covariance --- .../local_filter/src/local_filter_LPF.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index 6067e77..5ceba4a 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -139,15 +139,15 @@ class GlobalFilterNode { robotstate_.mu(1) = y; robotstate_.mu(2) = yaw; - robotstate_.sigma(0, 0) = pose_msg.pose.covariance[0]; // x-x - robotstate_.sigma(0, 1) = pose_msg.pose.covariance[1]; // x-y - robotstate_.sigma(0, 2) = pose_msg.pose.covariance[5]; // x-theta - robotstate_.sigma(1, 0) = pose_msg.pose.covariance[6]; // y-x - robotstate_.sigma(1, 1) = pose_msg.pose.covariance[7]; // y-y - robotstate_.sigma(1, 2) = pose_msg.pose.covariance[11]; // y-theta - robotstate_.sigma(2, 0) = pose_msg.pose.covariance[30]; // theta-x - robotstate_.sigma(2, 1) = pose_msg.pose.covariance[31]; // theta-y - robotstate_.sigma(2, 2) = pose_msg.pose.covariance[35]; // theta-theta + robotstate_.sigma(0, 0) = pose_msg.covariance[0]; // x-x + robotstate_.sigma(0, 1) = pose_msg.covariance[1]; // x-y + robotstate_.sigma(0, 2) = pose_msg.covariance[5]; // x-theta + robotstate_.sigma(1, 0) = pose_msg.covariance[6]; // y-x + robotstate_.sigma(1, 1) = pose_msg.covariance[7]; // y-y + robotstate_.sigma(1, 2) = pose_msg.covariance[11]; // y-theta + robotstate_.sigma(2, 0) = pose_msg.covariance[30]; // theta-x + robotstate_.sigma(2, 1) = pose_msg.covariance[31]; // theta-y + robotstate_.sigma(2, 2) = pose_msg.covariance[35]; // theta-theta } void odomCallback(const geometry_msgs::msg::Twist & odom_msg) { From 58153e4edb517a9289f97d2720d7603e7407cc2d Mon Sep 17 00:00:00 2001 From: wintera1233 Date: Mon, 3 Mar 2025 15:59:29 +0800 Subject: [PATCH 127/184] modified: (local) subscriber settings --- .../local/local_filter/src/local_filter_LPF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp index 5ceba4a..242954b 100644 --- a/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp +++ b/localization-devel-ws/local/local_filter/src/local_filter_LPF.cpp @@ -242,7 +242,7 @@ class GlobalFilterNode { std::shared_ptr nh_local_; rclcpp::Subscription::SharedPtr odom_sub_; rclcpp::Subscription::SharedPtr imu_sub_; - rclcpp::Subscription::SharedPtr setpose_sub_; + rclcpp::Subscription::SharedPtr setpose_sub_; rclcpp::Publisher::SharedPtr global_filter_pub_; rclcpp::Publisher::SharedPtr odom2map_pub_; From 04ccb57cf4adb54f06476bca9183d711681973b5 Mon Sep 17 00:00:00 2001 From: mac781 Date: Mon, 3 Mar 2025 18:35:02 +0800 Subject: [PATCH 128/184] Update rival_localization --- .../rival/draw_path/CMakeLists.txt | 44 +++ localization-devel-ws/rival/draw_path/LICENSE | 202 ++++++++++++ .../draw_path/include/draw_path/draw_path.h | 25 ++ .../rival/draw_path/launch/draw_path.xml | 20 ++ .../rival/draw_path/package.xml | 25 ++ .../rival/draw_path/src/draw_path.cpp | 34 ++ .../rival/rival_localization/CMakeLists.txt | 56 ++++ .../rival/rival_localization/LICENSE | 202 ++++++++++++ .../bag/0211_odom_2/0211_odom_2_0.db3 | Bin 0 -> 6459392 bytes .../bag/0211_odom_2/metadata.yaml | 44 +++ .../bag/0212_odom_1/0212_odom_1_0.db3 | Bin 0 -> 7655424 bytes .../bag/0212_odom_1/metadata.yaml | 44 +++ .../bag/0212_odom_2/0212_odom_2_0.db3 | Bin 0 -> 5304320 bytes .../bag/0212_odom_2/metadata.yaml | 44 +++ .../bag/0212_odom_3/0212_odom_3_0.db3 | Bin 0 -> 3284992 bytes .../bag/0212_odom_3/metadata.yaml | 38 +++ .../bag/0213_immtest_1/0213_immtest_1_0.db3 | Bin 0 -> 929792 bytes .../bag/0213_immtest_1/metadata.yaml | 38 +++ .../bag/0219_1/0219_1_0.db3 | Bin 0 -> 4923392 bytes .../bag/0219_1/metadata.yaml | 50 +++ .../bag/0219_2/0219_2_0.db3 | Bin 0 -> 9506816 bytes .../bag/0219_2/metadata.yaml | 50 +++ .../bag/0219_3/0219_3_0.db3 | Bin 0 -> 11284480 bytes .../bag/0219_3/metadata.yaml | 56 ++++ .../config/rival_localization.yaml | 36 +++ .../include/rival_localization/EKF.h | 119 +++++++ .../include/rival_localization/IMM.h | 68 ++++ .../rival_localization/ModelGenerator.h | 19 ++ .../rival_localization/rival_localization.h | 80 +++++ .../launch/rival_localization.xml | 31 ++ .../launch/view_rplidar_s3_launch.py | 88 ++++++ .../rival/rival_localization/lib/EKF.cpp | 290 ++++++++++++++++++ .../rival/rival_localization/lib/IMM.cpp | 146 +++++++++ .../rival_localization/lib/ModelGenerator.cpp | 62 ++++ .../rival/rival_localization/package.xml | 29 ++ .../rival_localization/rviz/rplidar_ros.rviz | 162 ++++++++++ .../src/rival_localization.cpp | 288 +++++++++++++++++ 37 files changed, 2390 insertions(+) create mode 100644 localization-devel-ws/rival/draw_path/CMakeLists.txt create mode 100644 localization-devel-ws/rival/draw_path/LICENSE create mode 100644 localization-devel-ws/rival/draw_path/include/draw_path/draw_path.h create mode 100644 localization-devel-ws/rival/draw_path/launch/draw_path.xml create mode 100644 localization-devel-ws/rival/draw_path/package.xml create mode 100644 localization-devel-ws/rival/draw_path/src/draw_path.cpp create mode 100644 localization-devel-ws/rival/rival_localization/CMakeLists.txt create mode 100644 localization-devel-ws/rival/rival_localization/LICENSE create mode 100644 localization-devel-ws/rival/rival_localization/bag/0211_odom_2/0211_odom_2_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0211_odom_2/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0212_odom_1/0212_odom_1_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0212_odom_1/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0212_odom_2/0212_odom_2_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0212_odom_2/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0212_odom_3/0212_odom_3_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0212_odom_3/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0213_immtest_1/0213_immtest_1_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0213_immtest_1/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0219_1/0219_1_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0219_1/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0219_2/0219_2_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0219_2/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/bag/0219_3/0219_3_0.db3 create mode 100644 localization-devel-ws/rival/rival_localization/bag/0219_3/metadata.yaml create mode 100644 localization-devel-ws/rival/rival_localization/config/rival_localization.yaml create mode 100644 localization-devel-ws/rival/rival_localization/include/rival_localization/EKF.h create mode 100644 localization-devel-ws/rival/rival_localization/include/rival_localization/IMM.h create mode 100644 localization-devel-ws/rival/rival_localization/include/rival_localization/ModelGenerator.h create mode 100644 localization-devel-ws/rival/rival_localization/include/rival_localization/rival_localization.h create mode 100644 localization-devel-ws/rival/rival_localization/launch/rival_localization.xml create mode 100644 localization-devel-ws/rival/rival_localization/launch/view_rplidar_s3_launch.py create mode 100644 localization-devel-ws/rival/rival_localization/lib/EKF.cpp create mode 100644 localization-devel-ws/rival/rival_localization/lib/IMM.cpp create mode 100644 localization-devel-ws/rival/rival_localization/lib/ModelGenerator.cpp create mode 100644 localization-devel-ws/rival/rival_localization/package.xml create mode 100644 localization-devel-ws/rival/rival_localization/rviz/rplidar_ros.rviz create mode 100644 localization-devel-ws/rival/rival_localization/src/rival_localization.cpp diff --git a/localization-devel-ws/rival/draw_path/CMakeLists.txt b/localization-devel-ws/rival/draw_path/CMakeLists.txt new file mode 100644 index 0000000..5c28b1b --- /dev/null +++ b/localization-devel-ws/rival/draw_path/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 3.8) +project(draw_path) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(std_msgs REQUIRED) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_executable(draw_path_node src/draw_path.cpp) +ament_target_dependencies(draw_path_node rclcpp geometry_msgs nav_msgs std_msgs) + +install(TARGETS + draw_path_node + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + launch + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-devel-ws/rival/draw_path/LICENSE b/localization-devel-ws/rival/draw_path/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/rival/draw_path/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/localization-devel-ws/rival/draw_path/include/draw_path/draw_path.h b/localization-devel-ws/rival/draw_path/include/draw_path/draw_path.h new file mode 100644 index 0000000..c015aa5 --- /dev/null +++ b/localization-devel-ws/rival/draw_path/include/draw_path/draw_path.h @@ -0,0 +1,25 @@ +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/clock.hpp" +#include +#include +#include "nav_msgs/msg/path.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" + +using namespace std::placeholders; + +class Draw : public rclcpp::Node{ + + public: + + Draw(); + + private: + + void lidar_callback(const nav_msgs::msg::Odometry::ConstPtr& msg); + + rclcpp::Subscription::SharedPtr draw_lidar_sub_; + rclcpp::Publisher::SharedPtr draw_lidar_pub_; + + nav_msgs::msg::Path lidar_Pose_; +}; \ No newline at end of file diff --git a/localization-devel-ws/rival/draw_path/launch/draw_path.xml b/localization-devel-ws/rival/draw_path/launch/draw_path.xml new file mode 100644 index 0000000..25aff7c --- /dev/null +++ b/localization-devel-ws/rival/draw_path/launch/draw_path.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/localization-devel-ws/rival/draw_path/package.xml b/localization-devel-ws/rival/draw_path/package.xml new file mode 100644 index 0000000..5512d84 --- /dev/null +++ b/localization-devel-ws/rival/draw_path/package.xml @@ -0,0 +1,25 @@ + + + + draw_path + 0.0.0 + draw path + user + Apache-2.0 + + ament_cmake + + rclcpp + geometry_msgs + nav_msgs + std_msgs + + ros2launch + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/localization-devel-ws/rival/draw_path/src/draw_path.cpp b/localization-devel-ws/rival/draw_path/src/draw_path.cpp new file mode 100644 index 0000000..0b747ab --- /dev/null +++ b/localization-devel-ws/rival/draw_path/src/draw_path.cpp @@ -0,0 +1,34 @@ +#include "draw_path/draw_path.h" + +Draw::Draw () : Node("draw_path_node"){ + + rclcpp::Clock clock; + + lidar_Pose_.header.frame_id = "robot/map"; + lidar_Pose_.header.stamp = clock.now(); + + draw_lidar_sub_ = this->create_subscription("pose", 10, std::bind(&Draw::lidar_callback, this, _1)); + draw_lidar_pub_ = this->create_publisher("lidar_Pose", 10); +} + +void Draw::lidar_callback(const nav_msgs::msg::Odometry::ConstPtr& msg){ + + geometry_msgs::msg::PoseStamped lidar_PoseStamped; + + lidar_PoseStamped.pose = msg->pose.pose; + lidar_PoseStamped.header.frame_id = "robot/map"; + lidar_PoseStamped.header.stamp = msg->header.stamp; + + lidar_Pose_.poses.push_back(lidar_PoseStamped); + + draw_lidar_pub_->publish(lidar_Pose_); +} + +int main(int argc, char * argv[]) { + + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/CMakeLists.txt b/localization-devel-ws/rival/rival_localization/CMakeLists.txt new file mode 100644 index 0000000..2a45200 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.8) +project(rival_localization) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(obstacle_detector REQUIRED) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(rival_lib lib/EKF.cpp lib/IMM.cpp lib/ModelGenerator.cpp) +target_include_directories(rival_lib PUBLIC include) +ament_target_dependencies(rival_lib rclcpp sensor_msgs geometry_msgs nav_msgs std_msgs tf2 tf2_ros) + +add_executable(rival_localization src/rival_localization.cpp) +ament_target_dependencies(rival_localization rclcpp tf2 tf2_ros geometry_msgs nav_msgs obstacle_detector sensor_msgs std_msgs) +target_link_libraries(rival_localization rival_lib) + +install(TARGETS + rival_lib + rival_localization + + DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY + launch + config + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/localization-devel-ws/rival/rival_localization/LICENSE b/localization-devel-ws/rival/rival_localization/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/localization-devel-ws/rival/rival_localization/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 4537 + - topic_metadata: + name: /obstacles_to_map + type: obstacle_detector/msg/Obstacles + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 498 + - topic_metadata: + name: /rival/final_pose + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 469 + - topic_metadata: + name: /rival/raw_pose + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 469 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 0211_odom_2_0.db3 + files: + - path: 0211_odom_2_0.db3 + starting_time: + nanoseconds_since_epoch: 1739280652997093315 + duration: + nanoseconds: 49709465044 + message_count: 5973 \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/bag/0212_odom_1/0212_odom_1_0.db3 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lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 3408 + - topic_metadata: + name: /obstacles_to_map + type: obstacle_detector/msg/Obstacles + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 373 + - topic_metadata: + name: /rival/final_pose + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 374 + - topic_metadata: + name: /rival/raw_pose + type: nav_msgs/msg/Odometry + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 374 + compression_format: "" + compression_mode: "" + relative_file_paths: + - 0212_odom_2_0.db3 + files: + - path: 0212_odom_2_0.db3 + starting_time: + nanoseconds_since_epoch: 1739343865060300895 + duration: + nanoseconds: 37360348799 + message_count: 4529 \ No newline at end of file diff --git a/localization-devel-ws/rival/rival_localization/bag/0212_odom_3/0212_odom_3_0.db3 b/localization-devel-ws/rival/rival_localization/bag/0212_odom_3/0212_odom_3_0.db3 new file mode 100644 index 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