orisys/ros_contorl
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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。

Browse Source 
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-10-15 11:07:04 +08:00
parent 926a7f9796
commit 80983954a4
5804 changed files with 2640781 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
build/flexiv_test_nodes/colcon_build.rc
+1
View File
@@ -0,0 +1 @@
0
build/flexiv_test_nodes/colcon_command_prefix_setup_py.sh
+1
View File
@@ -0,0 +1 @@
# generated from colcon_core/shell/template/command_prefix.sh.em
build/flexiv_test_nodes/colcon_command_prefix_setup_py.sh.env
+132
View File
@@ -0,0 +1,132 @@
AMENT_PREFIX_PATH=/home/cc/ros2/install/gpio_controller:/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
CMAKE_PREFIX_PATH=/home/cc/ros2/install/gpio_controller:/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_msgs
COLCON=1
COLCON_PREFIX_PATH=/home/cc/ros2/install
CONDA_DEFAULT_ENV=ros_flexiv
CONDA_EXE=/home/cc/anaconda3/bin/conda
CONDA_PREFIX=/home/cc/anaconda3/envs/ros_flexiv
CONDA_PREFIX_1=/home/cc/anaconda3/envs/ros_gz_sim
CONDA_PROMPT_MODIFIER=(ros_flexiv)
CONDA_PYTHON_EXE=/home/cc/anaconda3/bin/python
CONDA_SHLVL=2
GSETTINGS_SCHEMA_DIR=/home/cc/anaconda3/envs/ros_flexiv/share/glib-2.0/schemas
GSETTINGS_SCHEMA_DIR_CONDA_BACKUP=
HOME=/home/cc
LC_CTYPE=C.UTF-8
LD_LIBRARY_PATH=/home/cc/anaconda3/envs/ros_flexiv/lib/python3.11/site-packages/tensorrt_libs:/home/cc/anaconda3/envs/ros_flexiv/lib/python3.11/site-packages/tensorrt:/home/cc/flexiv_install/lib:/home/cc/ros2/install/gpio_controller/lib:/home/cc/ros2/install/flexiv_robot_states_broadcaster/lib:/home/cc/ros2/install/flexiv_gripper/lib:/home/cc/ros2/install/flexiv_msgs/lib:/home/cc/ros2/install/flexiv_hardware/lib:/home/cc/ros2/install/arm_msgs/lib:/home/cc/anaconda3/envs/ros_flexiv/opt/rviz_ogre_vendor/lib:/home/cc/ros2/install_sim/arm_msgs/lib:/home/cc/anaconda3/envs/ros_gz_sim/opt/rviz_ogre_vendor/lib
OLDPWD=/home/cc/ros2
PATH=/home/cc/anaconda3/envs/ros_gz_sim/bin:/home/cc/anaconda3/envs/ros_gz_sim/share/rubygems/bin:/home/cc/anaconda3/envs/ros_flexiv/bin:/home/cc/anaconda3/condabin:/usr/bin:/bin:/usr/sbin:/sbin
PWD=/home/cc/ros2/build/flexiv_test_nodes
PYTHONPATH=/home/cc/ros2/build/flexiv_test_nodes:/home/cc/ros2/install/flexiv_test_nodes/lib/python3.11/site-packages:/home/cc/ros2/install/flexiv_msgs/lib/python3.11/site-packages:/home/cc/ros2/build/arm_driver_flexiv:/home/cc/ros2/install/arm_driver_flexiv/lib/python3.11/site-packages:/home/cc/ros2/build/arm_control:/home/cc/ros2/install/arm_control/lib/python3.11/site-packages:/home/cc/ros2/build/arm_application:/home/cc/ros2/install/arm_application/lib/python3.11/site-packages:/home/cc/ros2/install/arm_msgs/lib/python3.11/site-packages:/home/cc/ros2/build/arm_kinematics:/home/cc/ros2/install/arm_kinematics/lib/python3.11/site-packages:/home/cc/ros2/build/arm_interfaces:/home/cc/ros2/install/arm_interfaces/lib/python3.11/site-packages:/home/cc/anaconda3/envs/ros_flexiv/lib/python311/site-packages:/home/cc/anaconda3/envs/ros_flexiv/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_control/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_application/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_msgs/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_kinematics/lib/python3.11/site-packages:/home/cc/ros2/install_sim/arm_interfaces/lib/python3.11/site-packages:/home/cc/anaconda3/envs/ros_gz_sim/lib/python311/site-packages:/home/cc/anaconda3/envs/ros_gz_sim/lib/python3.11/site-packages
ROBOT_SN=Rizon4-063989
ROS2_WS=/home/cc/ros2
ROS_DISTRO=humble
ROS_DOMAIN_ID=77
ROS_ETC_DIR=/home/cc/anaconda3/envs/ros_flexiv/etc/ros
ROS_LOCALHOST_ONLY=0
ROS_OS_OVERRIDE=conda:linux
ROS_PYTHON_VERSION=3
ROS_VERSION=2
SHLVL=0
SITE_BASE_FRAME=Rizon4-063989_base_link
SITE_CAMERA_FRAME=d405_left_color_optical_frame
SITE_CAM_AE_LIMIT_US=4000.0
SITE_CAM_AUTO_EXPOSURE=1
SITE_CAM_EMITTER=0
SITE_CAM_ENABLE_DEPTH=1
SITE_CAM_ENABLE_INFRA=1
SITE_CAM_EXPOSURE_US=0.0
SITE_CAM_FPS=30
SITE_CAM_GAIN=0.0
SITE_CAM_HEIGHT=480
SITE_CAM_LASER_POWER=0.0
SITE_CAM_NAME=d405_left
SITE_CAM_OVERLAY_HOLD=0.1
SITE_CAM_PREVIEW=1
SITE_CAM_PREVIEW_STEREO=1
SITE_CAM_SERIAL=352122274408
SITE_CAM_USE_SITE_RES=1
SITE_CAM_WIDTH=848
SITE_CONFIG=/home/cc/ros2/config/site.yaml
SITE_D405_LEFT_SERIAL=352122274408
SITE_D405_RIGHT_SERIAL=260522274442
SITE_D435_FPS=30
SITE_D435_HEIGHT=720
SITE_D435_SERIAL=262522073161
SITE_D435_WIDTH=1280
SITE_EE_FRAME=Rizon4-063989_flange
SITE_EE_X_M=0.25
SITE_EE_Y_M=0.0
SITE_EE_Z_M=0.35
SITE_FASTDDS_PROFILE=
SITE_GO_HOME_POSE=home
SITE_GO_HOME_SPEED=0.25
SITE_GRIP_AUTO_INIT=true
SITE_GRIP_BACKEND=usb
SITE_GRIP_BAUD=115200
SITE_GRIP_DEVICE=GripperDahuanModbus
SITE_GRIP_FORCE=20
SITE_GRIP_FORCE_N=50.0
SITE_GRIP_MODEL=PGEA-100-20-W
SITE_GRIP_PORT=/dev/ttyUSB0
SITE_GRIP_RS485_RTS=
SITE_GRIP_SLAVE=1
SITE_GRIP_SN=26610799
SITE_GRIP_SPEED=50
SITE_GRIP_STROKE_MM=20.0
SITE_GRIP_VEL_MPS=0.05
SITE_GRIP_VENDOR=dh
SITE_HANDEYE_BOARD_COLS=8
SITE_HANDEYE_BOARD_ROWS=11
SITE_HANDEYE_CALIBRATE=/home/cc/ros2/handeye/calibrate.yaml
SITE_HANDEYE_FILE=/home/cc/ros2/handeye/results/89_eye_in_hand.yaml
SITE_HANDEYE_MODE=eye_in_hand
SITE_HANDEYE_MOVE_T=8.0
SITE_HANDEYE_PIN_HOLDS=2
SITE_HANDEYE_PIN_SEC=0.45
SITE_HANDEYE_SETTLE_QD=0.015
SITE_HANDEYE_SETTLE_SEC=1.5
SITE_HANDEYE_SETTLE_STABLE=0.6
SITE_HANDEYE_SETTLE_TO=8.0
SITE_HANDEYE_SKIP_UNSTABLE=true
SITE_HANDEYE_SQUARE_M=0.015
SITE_HANDEYE_TOUR=/home/cc/ros2/handeye/waypoints.yaml
SITE_HANDEYE_VEL_SCALE=0.05
SITE_HANDEYE_WAYPOINTS=/home/cc/ros2/handeye/poses/89_eye_in_hand.yaml
SITE_HANDEYE_WORKDIR=/home/cc/ros2/handeye/tmp/89
SITE_HOLE_BACKEND=two_stage
SITE_HOLE_CONFIG=/home/cc/ros2/src/arm_application/config/hole_detect.yaml
SITE_HOLE_WEIGHTS=/home/cc/ros2/models/hole_insert/detect_best_1.onnx
SITE_HOLE_WORKPIECE_WEIGHTS=/home/cc/ros2/models/hole_insert/detect_best_1.onnx
SITE_JOINT_PREFIX=Rizon4-063989_
SITE_NAMED_POSES_FILE=/home/cc/ros2/src/arm_control/config/named_poses_89.yaml
SITE_NET_IFACE=enp4s0
SITE_PC_IP=192.168.2.10
SITE_ROBOT_ARM=left
SITE_ROBOT_CATALOG=Rizon4-063989,Rizon4-063991
SITE_ROBOT_IP=192.168.2.101
SITE_ROBOT_LABEL=左臂89
SITE_ROBOT_SN=Rizon4-063989
SITE_ROBOT_TOOL_NAME=
SITE_ROS2_ROOT=/home/cc/ros2
SITE_SERVO_WATCHDOG=1.2
SITE_SERVO_Z_REF=0.22
SITE_TACTILE_BACKEND=orisys
SITE_TACTILE_CONFIG=dd03
SITE_TACTILE_CONFIG_FILE=/home/cc/ros2/devices/sensors/orisys/models/dd03/config.json
SITE_TACTILE_LEFT=/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0
SITE_TACTILE_RIGHT=/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.2:1.0-video-index0
SITE_YOLO_CONF=0.1
SITE_YOLO_DEVICE=0
SITE_YOLO_IMGSZ=640
SITE_YOLO_MIN_CONF=0.12
SITE_YOLO_WEIGHTS=/home/cc/ros2/models/yolo/detect_best_0.onnx
SITE_YOLO_WEIGHTS_RESOLVED=/home/cc/ros2/models/yolo/detect_best_0.onnx
TERM=dumb
XML_CATALOG_FILES=file:///home/cc/anaconda3/envs/ros_flexiv/etc/xml/catalog file:///etc/xml/catalog
YOLO_AUTOINSTALL=false
_=/home/cc/anaconda3/envs/ros_gz_sim/bin/colcon
_CE_CONDA=
_CE_M=
_CONDA_EXE=/home/cc/anaconda3/bin/conda
_CONDA_ROOT=/home/cc/anaconda3
build/flexiv_test_nodes/flexiv_test_nodes
Symlink
+1
View File
@@ -0,0 +1 @@
../../src/flexiv_test_nodes/flexiv_test_nodes
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/PKG-INFO
+27
View File
@@ -0,0 +1,27 @@
Metadata-Version: 2.4
Name: flexiv_test_nodes
Version: 0.0.1
Summary: Demo nodes for testing flexiv_ros2.
Author: Mun Seng Phoon
Author-email: munseng.phoon@flexiv.com
Maintainer: Mun Seng Phoon
Maintainer-email: munseng.phoon@flexiv.com
License: Apache License, Version 2.0
Keywords: ROS
Classifier: Intended Audience :: Developers
Classifier: License :: OSI Approved :: Apache Software License
Classifier: Programming Language :: Python
Classifier: Topic :: Software Development
Requires-Dist: setuptools
Dynamic: author
Dynamic: author-email
Dynamic: classifier
Dynamic: description
Dynamic: keywords
Dynamic: license
Dynamic: maintainer
Dynamic: maintainer-email
Dynamic: requires-dist
Dynamic: summary
Demo nodes for for testing flexiv_ros2.
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/SOURCES.txt
+16
View File
@@ -0,0 +1,16 @@
package.xml
setup.cfg
setup.py
flexiv_test_nodes/__init__.py
flexiv_test_nodes/publisher_joint_trajectory_controller.py
flexiv_test_nodes/robot_states_monitor.py
flexiv_test_nodes/robot_states_publisher.py
flexiv_test_nodes.egg-info/PKG-INFO
flexiv_test_nodes.egg-info/SOURCES.txt
flexiv_test_nodes.egg-info/dependency_links.txt
flexiv_test_nodes.egg-info/entry_points.txt
flexiv_test_nodes.egg-info/requires.txt
flexiv_test_nodes.egg-info/top_level.txt
flexiv_test_nodes.egg-info/zip-safe
launch/robot_states_publisher.launch.py
resource/flexiv_test_nodes
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/dependency_links.txt
+1
View File
@@ -0,0 +1 @@
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/entry_points.txt
+4
View File
@@ -0,0 +1,4 @@
[console_scripts]
publisher_joint_trajectory_controller = flexiv_test_nodes.publisher_joint_trajectory_controller:main
robot_states_monitor = flexiv_test_nodes.robot_states_monitor:main
robot_states_publisher = flexiv_test_nodes.robot_states_publisher:main
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/requires.txt
+1
View File
@@ -0,0 +1 @@
setuptools
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/top_level.txt
+1
View File
@@ -0,0 +1 @@
flexiv_test_nodes
build/flexiv_test_nodes/flexiv_test_nodes.egg-info/zip-safe
+1
View File
@@ -0,0 +1 @@
build/flexiv_test_nodes/launch/robot_states_publisher.launch.py
Symlink
+1
View File
@@ -0,0 +1 @@
../../../src/flexiv_test_nodes/launch/robot_states_publisher.launch.py
build/flexiv_test_nodes/package.xml
Symlink
+1
View File
@@ -0,0 +1 @@
../../src/flexiv_test_nodes/package.xml
build/flexiv_test_nodes/prefix_override/sitecustomize.py
+4
View File
@@ -0,0 +1,4 @@
import sys
if sys.prefix == '/home/cc/anaconda3/envs/ros_gz_sim':
sys.real_prefix = sys.prefix
sys.prefix = sys.exec_prefix = '/home/cc/ros2/install/flexiv_test_nodes'
build/flexiv_test_nodes/resource/flexiv_test_nodes
Symlink
+1
View File
@@ -0,0 +1 @@
../../../src/flexiv_test_nodes/resource/flexiv_test_nodes
build/flexiv_test_nodes/setup.cfg
Symlink
+1
View File
@@ -0,0 +1 @@
../../src/flexiv_test_nodes/setup.cfg
build/flexiv_test_nodes/setup.py
Symlink
+1
View File
@@ -0,0 +1 @@
../../src/flexiv_test_nodes/setup.py
build/flexiv_test_nodes/share/flexiv_test_nodes/hook/pythonpath_develop.dsv
+1
View File
@@ -0,0 +1 @@
prepend-non-duplicate;PYTHONPATH;/home/cc/ros2/build/flexiv_test_nodes
build/flexiv_test_nodes/share/flexiv_test_nodes/hook/pythonpath_develop.ps1
+3
View File
@@ -0,0 +1,3 @@
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX//home/cc/ros2/build/flexiv_test_nodes"
build/flexiv_test_nodes/share/flexiv_test_nodes/hook/pythonpath_develop.sh
+3
View File
@@ -0,0 +1,3 @@
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value PYTHONPATH "/home/cc/ros2/build/flexiv_test_nodes"