克隆后还缺仿真安装树和两边的编译目录。把 build、build_sim、install_sim 一并放进仓库；仿真入口不再写死本机 conda，build 里指向源码的链接改成相对路径。

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-10-15 11:07:04 +08:00
parent 926a7f9796
commit 80983954a4
5804 changed files with 2640781 additions and 3 deletions
@@ -0,0 +1,7 @@
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:msg/Digital.idl
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:msg/GPIOStates.idl
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:msg/JointPosVel.idl
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:msg/Mode.idl
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:msg/RobotStates.idl
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:action/Grasp.idl
+/home/cc/ros2/build/flexiv_msgs/rosidl_adapter/flexiv_msgs:action/Move.idl
@@ -0,0 +1,30 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from flexiv_msgs/action/Grasp.action
+// generated code does not contain a copyright notice
+
+
+module flexiv_msgs {
+  module action {
+    struct Grasp_Goal {
+      @verbatim (language="comment", text=
+        "N")
+      double force;
+    };
+    struct Grasp_Result {
+      boolean success;
+
+      string error;
+    };
+    struct Grasp_Feedback {
+      @verbatim (language="comment", text=
+        "m")
+      double current_width;
+
+      @verbatim (language="comment", text=
+        "N")
+      double current_force;
+
+      boolean moving;
+    };
+  };
+};
@@ -0,0 +1,38 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from flexiv_msgs/action/Move.action
+// generated code does not contain a copyright notice
+
+
+module flexiv_msgs {
+  module action {
+    struct Move_Goal {
+      @verbatim (language="comment", text=
+        "m")
+      double width;
+
+      @verbatim (language="comment", text=
+        "m/s")
+      double velocity;
+
+      @verbatim (language="comment", text=
+        "N")
+      double max_force;
+    };
+    struct Move_Result {
+      boolean success;
+
+      string error;
+    };
+    struct Move_Feedback {
+      @verbatim (language="comment", text=
+        "m")
+      double current_width;
+
+      @verbatim (language="comment", text=
+        "N")
+      double current_force;
+
+      boolean moving;
+    };
+  };
+};
@@ -0,0 +1,14 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from flexiv_msgs/msg/Digital.msg
+// generated code does not contain a copyright notice
+
+
+module flexiv_msgs {
+  module msg {
+    struct Digital {
+      uint8 pin;
+
+      boolean state;
+    };
+  };
+};
@@ -0,0 +1,13 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from flexiv_msgs/msg/GPIOStates.msg
+// generated code does not contain a copyright notice
+
+#include "flexiv_msgs/msg/Digital.idl"
+
+module flexiv_msgs {
+  module msg {
+    struct GPIOStates {
+      sequence<flexiv_msgs::msg::Digital> states;
+    };
+  };
+};
@@ -0,0 +1,14 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from flexiv_msgs/msg/JointPosVel.msg
+// generated code does not contain a copyright notice
+
+
+module flexiv_msgs {
+  module msg {
+    struct JointPosVel {
+      sequence<double> positions;
+
+      sequence<double> velocities;
+    };
+  };
+};
@@ -0,0 +1,26 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from flexiv_msgs/msg/Mode.msg
+// generated code does not contain a copyright notice
+
+
+module flexiv_msgs {
+  module msg {
+    module Mode_Constants {
+      const int8 MODE_UNKNOWN = -1;
+      const int8 MODE_IDLE = 0;
+      const int8 MODE_RT_JOINT_TORQUE = 1;
+      const int8 MODE_RT_JOINT_IMPEDANCE = 2;
+      const int8 MODE_NRT_JOINT_IMPEDANCE = 3;
+      const int8 MODE_RT_JOINT_POSITION = 4;
+      const int8 MODE_NRT_JOINT_POSITION = 5;
+      const int8 MODE_NRT_PLAN_EXECUTION = 6;
+      const int8 MODE_NRT_PRIMITIVE_EXECUTION = 7;
+      const int8 MODE_RT_CARTESIAN_MOTION_FORCE = 8;
+      const int8 MODE_NRT_CARTESIAN_MOTION_FORCE = 9;
+      const int8 MODE_NRT_SUPER_PRIMITIVE = 10;
+    };
+    struct Mode {
+      int8 mode;
+    };
+  };
+};
@@ -0,0 +1,95 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from flexiv_msgs/msg/RobotStates.msg
+// generated code does not contain a copyright notice
+
+#include "builtin_interfaces/msg/Time.idl"
+#include "geometry_msgs/msg/AccelStamped.idl"
+#include "geometry_msgs/msg/PoseStamped.idl"
+#include "geometry_msgs/msg/WrenchStamped.idl"
+#include "std_msgs/msg/Header.idl"
+
+module flexiv_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Header")
+    struct RobotStates {
+      std_msgs::msg::Header header;
+
+      @verbatim (language="comment", text=
+        "Robot system timestamp")
+      builtin_interfaces::msg::Time robot_timestamp;
+
+      @verbatim (language="comment", text=
+        "Measured joint positions using link-side encoder")
+      sequence<double> q;
+
+      @verbatim (language="comment", text=
+        "Measured joint positions using motor-side encoder")
+      sequence<double> theta;
+
+      @verbatim (language="comment", text=
+        "Measured joint velocities using link-side encoder")
+      sequence<double> dq;
+
+      @verbatim (language="comment", text=
+        "Measured joint velocities using motor-side encoder")
+      sequence<double> dtheta;
+
+      @verbatim (language="comment", text=
+        "Measured joint torques")
+      sequence<double> tau;
+
+      @verbatim (language="comment", text=
+        "Desired joint torques")
+      sequence<double> tau_des;
+
+      @verbatim (language="comment", text=
+        "Numerical derivative of measured joint torques")
+      sequence<double> tau_dot;
+
+      @verbatim (language="comment", text=
+        "Estimated external joint torques")
+      sequence<double> tau_ext;
+
+      @verbatim (language="comment", text=
+        "Estimated interaction joint torques")
+      sequence<double> tau_interact;
+
+      @verbatim (language="comment", text=
+        "Measured joint temperatures")
+      sequence<double> temperature;
+
+      @verbatim (language="comment", text=
+        "Measured TCP pose expressed in world frame")
+      geometry_msgs::msg::PoseStamped tcp_pose;
+
+      @verbatim (language="comment", text=
+        "Measured TCP velocity expressed in world frame")
+      geometry_msgs::msg::AccelStamped tcp_vel;
+
+      @verbatim (language="comment", text=
+        "Measured flange pose expressed in world frame")
+      geometry_msgs::msg::PoseStamped flange_pose;
+
+      @verbatim (language="comment", text=
+        "Force-torque (FT) sensor raw reading in flange frame")
+      geometry_msgs::msg::WrenchStamped ft_sensor_raw;
+
+      @verbatim (language="comment", text=
+        "Estimated external wrench applied on TCP and expressed in TCP frame")
+      geometry_msgs::msg::WrenchStamped ext_wrench_in_tcp;
+
+      @verbatim (language="comment", text=
+        "Estimated external wrench applied on TCP and expressed in world frame")
+      geometry_msgs::msg::WrenchStamped ext_wrench_in_world;
+
+      @verbatim (language="comment", text=
+        "Unfiltered external wrench applied on TCP and expressed in TCP frame")
+      geometry_msgs::msg::WrenchStamped ext_wrench_in_tcp_raw;
+
+      @verbatim (language="comment", text=
+        "Unfiltered external wrench applied on TCP and expressed in world frame")
+      geometry_msgs::msg::WrenchStamped ext_wrench_in_world_raw;
+    };
+  };
+};