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>

install_sim/arm_msgs/share/ament_index/resource_index/package_run_dependencies/arm_msgs

@@ -0,0 +1 @@
+std_msgs;geometry_msgs;builtin_interfaces;sensor_msgs;rosidl_default_runtime

install_sim/arm_msgs/share/ament_index/resource_index/parent_prefix_path/arm_msgs

@@ -0,0 +1 @@
+/home/cc/ros2/install_sim/arm_sim_gazebo:/home/cc/ros2/install_sim/arm_description:/home/cc/ros2/install_sim/flexiv_description:/home/cc/ros2/install_sim/arm_control:/home/cc/ros2/install_sim/arm_application:/home/cc/ros2/install_sim/arm_msgs:/home/cc/ros2/install_sim/arm_kinematics:/home/cc/ros2/install_sim/arm_interfaces:/home/cc/anaconda3/envs/ros_gz_sim

install_sim/arm_msgs/share/ament_index/resource_index/rosidl_interfaces/arm_msgs

@@ -0,0 +1,36 @@
+action/CompliantDescent.action
+action/CompliantDescent.idl
+action/FollowJointTrajectory.action
+action/FollowJointTrajectory.idl
+action/MoveToPose.action
+action/MoveToPose.idl
+msg/ArmStatus.idl
+msg/ArmStatus.msg
+msg/GripperCommand.idl
+msg/GripperCommand.msg
+msg/GripperStatus.idl
+msg/GripperStatus.msg
+msg/HoleDetection.idl
+msg/HoleDetection.msg
+msg/HoleDetections.idl
+msg/HoleDetections.msg
+msg/JointCommand.idl
+msg/JointCommand.msg
+msg/TactileStatus.idl
+msg/TactileStatus.msg
+srv/GetArmState.idl
+srv/GetArmState.srv
+srv/GetArmState_Request.msg
+srv/GetArmState_Response.msg
+srv/GripperExecute.idl
+srv/GripperExecute.srv
+srv/GripperExecute_Request.msg
+srv/GripperExecute_Response.msg
+srv/SetNamedPose.idl
+srv/SetNamedPose.srv
+srv/SetNamedPose_Request.msg
+srv/SetNamedPose_Response.msg
+srv/SwitchTool.idl
+srv/SwitchTool.srv
+srv/SwitchTool_Request.msg
+srv/SwitchTool_Response.msg

install_sim/arm_msgs/share/arm_msgs/action/CompliantDescent.action

@@ -0,0 +1,40 @@
+# 柔顺下臂：从当前悬停位姿沿工具系 −Z 缓慢下压，直到触觉检测到接触。
+#
+# 通止规装配 S07（下臂接触）专用原语。
+#
+# 为什么不用 RDK 的柔顺模式：非夕 RDK 的 compliant motion 会接管整臂阻抗，
+# 而装配的其它阶段（跟踪 / 对准 / 拧入）都走 JTC 位置控制；在两种控制权之间
+# 来回切换代价高、掉电风险大。这里用「小幅步进 + 力反馈」在应用层做等效：
+# 每步 0.2~1.0 mm，步间等稳定，一旦切向力相对基线跳变立即停住。
+# 对通止规这种「碰到就必须停」的场景足够，而且任何一步都可以安全中断。
+#
+# 力阈值全部是「相对静止基线的增量」：Orisys 读数是形变任意单位且基线会漂移，
+# 绝对值没有意义。基线由传感器节点的 measure_baseline 服务在启动时测定。
+
+# --- 目标与判据 ---
+float64 target_x_m          # 目标法兰 X（基座系，m）。NaN = 保持当前 XY 不动
+float64 target_y_m          # 目标法兰 Y（基座系，m）。NaN = 保持当前 XY 不动
+float64 contact_axis        # 监测哪条切向通道：0 = 第一路切向，1 = 第二路切向
+float64 contact_delta       # 接触判据：|切向力| 相对静止基线的增量（传感器原生单位）
+float64 max_normal_delta    # 法向力安全上限（相对基线增量）。<=0 = 不检查
+string side                 # 用哪只手指的触觉：left | right（装配时是持规那只）
+
+# --- 运动参数 ---
+float64 descent_step_m      # 每步下压量（m），建议 0.0002 ~ 0.0010
+float64 descent_speed_mps   # 名义下压速度（m/s）。步进间隔 = step / speed
+float64 max_descent_m       # 最多下压距离（m）。安全上限，到了判失败并停住
+float64 settle_sec          # 每步后等待稳定（s）。0 = 不等，靠触觉话题新鲜度
+float64 timeout_sec         # 总超时（s）。0 = 由 max_descent_m / descent_speed_mps 推算
+---
+bool success                # true = 检测到接触且已停住
+string message              # 失败原因：超时 / 触觉断流 / 达到行程上限 / 法向力超限
+geometry_msgs/PoseStamped contact_pose   # 接触瞬间的法兰位姿（基座系）
+float64 descended_m                      # 实际下压距离（m）
+float64 contact_delta_observed           # 触发瞬间的切向增量
+float64 normal_delta_observed            # 触发瞬间的法向增量
+---
+float64 progress                         # 0.0 ~ 1.0（descended_m / max_descent_m）
+float64 descended_m                      # 当前已下压距离（m）
+float64 tangential_delta                 # 当前切向增量（相对基线）
+float64 normal_delta                     # 当前法向增量（相对基线）
+string status                            # approaching | contacting | retracting | done | error

install_sim/arm_msgs/share/arm_msgs/action/CompliantDescent.idl

@@ -0,0 +1,116 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from arm_msgs/action/CompliantDescent.action
+// generated code does not contain a copyright notice
+
+#include "geometry_msgs/msg/PoseStamped.idl"
+
+module arm_msgs {
+  module action {
+    @verbatim (language="comment", text=
+      "柔顺下臂：从当前悬停位姿沿工具系 −Z 缓慢下压，直到触觉检测到接触。" "\n"
+      "" "\n"
+      "通止规装配 S07（下臂接触）专用原语。" "\n"
+      "" "\n"
+      "为什么不用 RDK 的柔顺模式：非夕 RDK 的 compliant motion 会接管整臂阻抗，" "\n"
+      "而装配的其它阶段（跟踪 / 对准 / 拧入）都走 JTC 位置控制；在两种控制权之间" "\n"
+      "来回切换代价高、掉电风险大。这里用「小幅步进 + 力反馈」在应用层做等效：" "\n"
+      "每步 0.2~1.0 mm，步间等稳定，一旦切向力相对基线跳变立即停住。" "\n"
+      "对通止规这种「碰到就必须停」的场景足够，而且任何一步都可以安全中断。" "\n"
+      "" "\n"
+      "力阈值全部是「相对静止基线的增量」：Orisys 读数是形变任意单位且基线会漂移，" "\n"
+      "绝对值没有意义。基线由传感器节点的 measure_baseline 服务在启动时测定。")
+    struct CompliantDescent_Goal {
+      @verbatim (language="comment", text=
+        "--- 目标与判据 ---" "\n"
+        "目标法兰 X（基座系，m）。NaN = 保持当前 XY 不动")
+      double target_x_m;
+
+      @verbatim (language="comment", text=
+        "目标法兰 Y（基座系，m）。NaN = 保持当前 XY 不动")
+      double target_y_m;
+
+      @verbatim (language="comment", text=
+        "监测哪条切向通道：0 = 第一路切向，1 = 第二路切向")
+      double contact_axis;
+
+      @verbatim (language="comment", text=
+        "接触判据：|切向力| 相对静止基线的增量（传感器原生单位）")
+      double contact_delta;
+
+      @verbatim (language="comment", text=
+        "法向力安全上限（相对基线增量）。<=0 = 不检查")
+      double max_normal_delta;
+
+      @verbatim (language="comment", text=
+        "用哪只手指的触觉：left | right（装配时是持规那只）")
+      string side;
+
+      @verbatim (language="comment", text=
+        "--- 运动参数 ---" "\n"
+        "每步下压量（m），建议 0.0002 ~ 0.0010")
+      double descent_step_m;
+
+      @verbatim (language="comment", text=
+        "名义下压速度（m/s）。步进间隔 = step / speed")
+      double descent_speed_mps;
+
+      @verbatim (language="comment", text=
+        "最多下压距离（m）。安全上限，到了判失败并停住")
+      double max_descent_m;
+
+      @verbatim (language="comment", text=
+        "每步后等待稳定（s）。0 = 不等，靠触觉话题新鲜度")
+      double settle_sec;
+
+      @verbatim (language="comment", text=
+        "总超时（s）。0 = 由 max_descent_m / descent_speed_mps 推算")
+      double timeout_sec;
+    };
+    struct CompliantDescent_Result {
+      @verbatim (language="comment", text=
+        "true = 检测到接触且已停住")
+      boolean success;
+
+      @verbatim (language="comment", text=
+        "失败原因：超时 / 触觉断流 / 达到行程上限 / 法向力超限")
+      string message;
+
+      @verbatim (language="comment", text=
+        "接触瞬间的法兰位姿（基座系）")
+      geometry_msgs::msg::PoseStamped contact_pose;
+
+      @verbatim (language="comment", text=
+        "实际下压距离（m）")
+      double descended_m;
+
+      @verbatim (language="comment", text=
+        "触发瞬间的切向增量")
+      double contact_delta_observed;
+
+      @verbatim (language="comment", text=
+        "触发瞬间的法向增量")
+      double normal_delta_observed;
+    };
+    struct CompliantDescent_Feedback {
+      @verbatim (language="comment", text=
+        "0.0 ~ 1.0（descended_m / max_descent_m）")
+      double progress;
+
+      @verbatim (language="comment", text=
+        "当前已下压距离（m）")
+      double descended_m;
+
+      @verbatim (language="comment", text=
+        "当前切向增量（相对基线）")
+      double tangential_delta;
+
+      @verbatim (language="comment", text=
+        "当前法向增量（相对基线）")
+      double normal_delta;
+
+      @verbatim (language="comment", text=
+        "approaching | contacting | retracting | done | error")
+      string status;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/action/FollowJointTrajectory.action

@@ -0,0 +1,16 @@
+# Simplified joint-space trajectory used by mock / named-pose stack.
+# MoveIt / ros2_control use control_msgs/FollowJointTrajectory; a bridge
+# converts when backend:=moveit or backend:=real.
+string[] joint_names
+float64[] positions             # flattened: num_points * num_joints
+uint32 num_points
+float64[] time_from_start       # length = num_points, seconds
+float64 velocity_scale
+---
+bool success
+string message
+float64[] final_positions
+---
+uint32 current_point
+float64 progress
+string status

install_sim/arm_msgs/share/arm_msgs/action/FollowJointTrajectory.idl

@@ -0,0 +1,42 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from arm_msgs/action/FollowJointTrajectory.action
+// generated code does not contain a copyright notice
+
+
+module arm_msgs {
+  module action {
+    @verbatim (language="comment", text=
+      "Simplified joint-space trajectory used by mock / named-pose stack." "\n"
+      "MoveIt / ros2_control use control_msgs/FollowJointTrajectory; a bridge" "\n"
+      "converts when backend:=moveit or backend:=real.")
+    struct FollowJointTrajectory_Goal {
+      sequence<string> joint_names;
+
+      @verbatim (language="comment", text=
+        "flattened: num_points * num_joints")
+      sequence<double> positions;
+
+      uint32 num_points;
+
+      @verbatim (language="comment", text=
+        "length = num_points, seconds")
+      sequence<double> time_from_start;
+
+      double velocity_scale;
+    };
+    struct FollowJointTrajectory_Result {
+      boolean success;
+
+      string message;
+
+      sequence<double> final_positions;
+    };
+    struct FollowJointTrajectory_Feedback {
+      uint32 current_point;
+
+      double progress;
+
+      string status;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/action/MoveToPose.action

@@ -0,0 +1,13 @@
+# Cartesian goal for tcp / tool0 (implemented by MoveIt backend)
+geometry_msgs/PoseStamped target_pose
+float64 velocity_scale
+float64 acceleration_scale
+bool avoid_collisions
+---
+bool success
+string message
+float64[] final_joint_positions
+---
+geometry_msgs/PoseStamped current_pose
+float64 progress
+string status

install_sim/arm_msgs/share/arm_msgs/action/MoveToPose.idl

@@ -0,0 +1,35 @@
+// generated from rosidl_adapter/resource/action.idl.em
+// with input from arm_msgs/action/MoveToPose.action
+// generated code does not contain a copyright notice
+
+#include "geometry_msgs/msg/PoseStamped.idl"
+
+module arm_msgs {
+  module action {
+    @verbatim (language="comment", text=
+      "Cartesian goal for tcp / tool0 (implemented by MoveIt backend)")
+    struct MoveToPose_Goal {
+      geometry_msgs::msg::PoseStamped target_pose;
+
+      double velocity_scale;
+
+      double acceleration_scale;
+
+      boolean avoid_collisions;
+    };
+    struct MoveToPose_Result {
+      boolean success;
+
+      string message;
+
+      sequence<double> final_joint_positions;
+    };
+    struct MoveToPose_Feedback {
+      geometry_msgs::msg::PoseStamped current_pose;
+
+      double progress;
+
+      string status;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/cmake/ament_cmake_export_dependencies-extras.cmake

@@ -0,0 +1,94 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "std_msgs;geometry_msgs;builtin_interfaces;sensor_msgs;action_msgs;rosidl_runtime_c;rosidl_typesupport_interface;rcutils;fastrtps_cmake_module;fastcdr;rosidl_runtime_c;rosidl_runtime_cpp;rosidl_typesupport_fastrtps_c;rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_interface;rosidl_runtime_c;rosidl_typesupport_c;rosidl_typesupport_interface;rosidl_runtime_cpp;fastrtps_cmake_module;fastcdr;rmw;rosidl_runtime_c;rosidl_runtime_cpp;rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_interface;rosidl_runtime_c;rosidl_runtime_cpp;rosidl_typesupport_c;rosidl_typesupport_cpp;rosidl_typesupport_interface;rosidl_default_runtime")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to arm_msgs_DEFINITIONS, arm_msgs_INCLUDE_DIRS,
+# arm_msgs_LIBRARIES, and arm_msgs_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# arm_msgs_DEPENDENCIES as well as the recursive dependency names
+# in arm_msgs_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(arm_msgs_DEPENDENCIES ${_exported_dependencies})
+  set(arm_msgs_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(arm_msgs_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(arm_msgs_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(arm_msgs_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(arm_msgs_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(arm_msgs_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND _libraries ${arm_msgs_LIBRARIES})
+      list(REMOVE_DUPLICATES _libraries)
+      set(arm_msgs_LIBRARIES ${_libraries})
+    endif()
+  endforeach()
+endif()

install_sim/arm_msgs/share/arm_msgs/cmake/ament_cmake_export_include_directories-extras.cmake

@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${arm_msgs_DIR}/../../../include/arm_msgs")
+
+# append include directories to arm_msgs_INCLUDE_DIRS
+# warn about not existing paths
+if(NOT _exported_include_dirs STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  foreach(_exported_include_dir ${_exported_include_dirs})
+    if(NOT IS_DIRECTORY "${_exported_include_dir}")
+      message(WARNING "Package 'arm_msgs' exports the include directory '${_exported_include_dir}' which doesn't exist")
+    endif()
+    normalize_path(_exported_include_dir "${_exported_include_dir}")
+    list(APPEND arm_msgs_INCLUDE_DIRS "${_exported_include_dir}")
+  endforeach()
+endif()

install_sim/arm_msgs/share/arm_msgs/cmake/ament_cmake_export_libraries-extras.cmake

@@ -0,0 +1,141 @@
+# generated from ament_cmake_export_libraries/cmake/template/ament_cmake_export_libraries.cmake.in
+
+set(_exported_libraries "arm_msgs__rosidl_generator_c;arm_msgs__rosidl_typesupport_c;arm_msgs__rosidl_typesupport_cpp")
+set(_exported_library_names "")
+
+# populate arm_msgs_LIBRARIES
+if(NOT _exported_libraries STREQUAL "")
+  # loop over libraries, either target names or absolute paths
+  list(LENGTH _exported_libraries _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_libraries ${_i} _arg)
+
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND arm_msgs_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'arm_msgs' passes the build configuration keyword '${_cfg}' as the last exported library")
+      endif()
+      list(GET _exported_libraries ${_i} _library)
+    else()
+      # the value is a library without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${arm_msgs_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # warn about not existing library and ignore it
+        message(FATAL_ERROR "Package 'arm_msgs' exports the library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR "Package 'arm_msgs' found the library '${_library}' at '${_lib}' which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'arm_msgs' found the library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND arm_msgs_LIBRARIES ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'arm_msgs' exports the library '${_library}' which doesn't exist")
+      else()
+        list(APPEND arm_msgs_LIBRARIES ${_cfg} "${_library}")
+      endif()
+    endif()
+  endwhile()
+endif()
+
+# find_library() library names with optional LIBRARY_DIRS
+# and add the libraries to arm_msgs_LIBRARIES
+if(NOT _exported_library_names STREQUAL "")
+  # loop over library names
+  # but remember related build configuration keyword if available
+  list(LENGTH _exported_library_names _length)
+  set(_i 0)
+  while(_i LESS _length)
+    list(GET _exported_library_names ${_i} _arg)
+    # pass linker flags along
+    if("${_arg}" MATCHES "^-" AND NOT "${_arg}" MATCHES "^-[l|framework]")
+      list(APPEND arm_msgs_LIBRARIES "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      continue()
+    endif()
+
+    if("${_arg}" MATCHES "^(debug|optimized|general)$")
+      # remember build configuration keyword
+      # and get following library name
+      set(_cfg "${_arg}")
+      math(EXPR _i "${_i} + 1")
+      if(_i EQUAL _length)
+        message(FATAL_ERROR "Package 'arm_msgs' passes the build configuration keyword '${_cfg}' as the last exported target")
+      endif()
+      list(GET _exported_library_names ${_i} _library)
+    else()
+      # the value is a library target without a build configuration keyword
+      set(_cfg "")
+      set(_library "${_arg}")
+    endif()
+    math(EXPR _i "${_i} + 1")
+
+    # extract optional LIBRARY_DIRS from library name
+    string(REPLACE ":" ";" _library_dirs "${_library}")
+    list(GET _library_dirs 0 _library_name)
+    list(REMOVE_AT _library_dirs 0)
+
+    set(_lib "NOTFOUND")
+    if(NOT _library_dirs)
+      # search for library in the common locations
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING "Package 'arm_msgs' exports library '${_library_name}' which couldn't be found")
+      endif()
+    else()
+      # search for library in the specified directories
+      find_library(
+        _lib
+        NAMES "${_library_name}"
+        PATHS ${_library_dirs}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+      if(NOT _lib)
+        # warn about not existing library and later ignore it
+        message(WARNING
+          "Package 'arm_msgs' exports library '${_library_name}' with LIBRARY_DIRS '${_library_dirs}' which couldn't be found")
+      endif()
+    endif()
+    if(_lib)
+      list(APPEND arm_msgs_LIBRARIES ${_cfg} "${_lib}")
+    endif()
+  endwhile()
+endif()
+
+# TODO(dirk-thomas) deduplicate arm_msgs_LIBRARIES
+# while maintaining library order
+# as well as build configuration keywords
+# as well as linker flags

install_sim/arm_msgs/share/arm_msgs/cmake/ament_cmake_export_targets-extras.cmake

@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "export_arm_msgs__rosidl_generator_c;export_arm_msgs__rosidl_typesupport_fastrtps_c;arm_msgs__rosidl_typesupport_introspection_c;arm_msgs__rosidl_typesupport_c;export_arm_msgs__rosidl_generator_cpp;export_arm_msgs__rosidl_typesupport_fastrtps_cpp;arm_msgs__rosidl_typesupport_introspection_cpp;arm_msgs__rosidl_typesupport_cpp;export_arm_msgs__rosidl_generator_py")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+  foreach(_target ${_exported_targets})
+    set(_export_file "${arm_msgs_DIR}/${_target}Export.cmake")
+    include("${_export_file}")
+
+    # extract the target names associated with the export
+    set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)")
+    file(
+      STRINGS "${_export_file}" _foreach_targets
+      REGEX "${_regex}")
+    list(LENGTH _foreach_targets _matches)
+    if(NOT _matches EQUAL 1)
+      message(FATAL_ERROR
+        "Failed to find exported target names in '${_export_file}'")
+    endif()
+    string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}")
+    string(REPLACE " " ";" _targets "${_targets}")
+    list(LENGTH _targets _length)
+
+    list(APPEND arm_msgs_TARGETS ${_targets})
+  endforeach()
+endif()

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgsConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.1.0")
+
+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()

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgsConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_arm_msgs_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED arm_msgs_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(arm_msgs_FOUND FALSE)
+  elseif(NOT arm_msgs_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(arm_msgs_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_arm_msgs_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT arm_msgs_FIND_QUIETLY)
+  message(STATUS "Found arm_msgs: 0.1.0 (${arm_msgs_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'arm_msgs' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${arm_msgs_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(arm_msgs_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "rosidl_cmake-extras.cmake;ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_include_directories-extras.cmake;ament_cmake_export_libraries-extras.cmake;ament_cmake_export_targets-extras.cmake;rosidl_cmake_export_typesupport_targets-extras.cmake;rosidl_cmake_export_typesupport_libraries-extras.cmake")
+foreach(_extra ${_extras})
+  include("${arm_msgs_DIR}/${_extra}")
+endforeach()

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_cExport-noconfig.cmake

@@ -0,0 +1,20 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_typesupport_c" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_c PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_c::rosidl_typesupport_c"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_c.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_typesupport_c.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_typesupport_c )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_typesupport_c "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_cExport.cmake

@@ -0,0 +1,122 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_typesupport_c)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_typesupport_c
+add_library(arm_msgs::arm_msgs__rosidl_typesupport_c SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_c PROPERTIES
+  INTERFACE_LINK_LIBRARIES "arm_msgs::arm_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;geometry_msgs::geometry_msgs__rosidl_typesupport_c;sensor_msgs::sensor_msgs__rosidl_typesupport_c;action_msgs::action_msgs__rosidl_typesupport_c;unique_identifier_msgs::unique_identifier_msgs__rosidl_typesupport_c"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/arm_msgs__rosidl_typesupport_cExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_generator_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_cppExport-noconfig.cmake

@@ -0,0 +1,20 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_typesupport_cpp" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_cpp PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_cpp::rosidl_typesupport_cpp;rosidl_typesupport_c::rosidl_typesupport_c"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_cpp.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_typesupport_cpp.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_typesupport_cpp )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_typesupport_cpp "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_cppExport.cmake

@@ -0,0 +1,122 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_typesupport_cpp)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_typesupport_cpp
+add_library(arm_msgs::arm_msgs__rosidl_typesupport_cpp SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_cpp PROPERTIES
+  INTERFACE_LINK_LIBRARIES "arm_msgs::arm_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_cpp;sensor_msgs::sensor_msgs__rosidl_typesupport_cpp;action_msgs::action_msgs__rosidl_typesupport_cpp;unique_identifier_msgs::unique_identifier_msgs__rosidl_typesupport_cpp"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/arm_msgs__rosidl_typesupport_cppExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_generator_cpp" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_introspection_cExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_typesupport_introspection_c" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_introspection_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_introspection_c.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_typesupport_introspection_c.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_typesupport_introspection_c )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_typesupport_introspection_c "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_introspection_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_introspection_cExport.cmake

@@ -0,0 +1,123 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_typesupport_introspection_c)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_typesupport_introspection_c
+add_library(arm_msgs::arm_msgs__rosidl_typesupport_introspection_c SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_introspection_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/arm_msgs"
+  INTERFACE_LINK_LIBRARIES "arm_msgs::arm_msgs__rosidl_generator_c;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_c;sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_c;action_msgs::action_msgs__rosidl_typesupport_introspection_c;unique_identifier_msgs::unique_identifier_msgs__rosidl_typesupport_introspection_c"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/arm_msgs__rosidl_typesupport_introspection_cExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_generator_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_introspection_cppExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_introspection_cpp.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_typesupport_introspection_cpp.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_introspection_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/arm_msgs__rosidl_typesupport_introspection_cppExport.cmake

@@ -0,0 +1,123 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp
+add_library(arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_introspection_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/arm_msgs"
+  INTERFACE_LINK_LIBRARIES "arm_msgs::arm_msgs__rosidl_generator_cpp;rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp;sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_cpp;action_msgs::action_msgs__rosidl_typesupport_introspection_cpp;unique_identifier_msgs::unique_identifier_msgs__rosidl_typesupport_introspection_cpp"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/arm_msgs__rosidl_typesupport_introspection_cppExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_generator_cpp" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_generator_cExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_generator_c" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_generator_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_generator_c.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_generator_c.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_generator_c )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_generator_c "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_generator_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_generator_cExport.cmake

@@ -0,0 +1,107 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_generator_c)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_generator_c
+add_library(arm_msgs::arm_msgs__rosidl_generator_c SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_generator_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/arm_msgs"
+  INTERFACE_LINK_LIBRARIES "std_msgs::std_msgs__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_generator_c;geometry_msgs::geometry_msgs__rosidl_generator_c;sensor_msgs::sensor_msgs__rosidl_generator_c;action_msgs::action_msgs__rosidl_generator_c;unique_identifier_msgs::unique_identifier_msgs__rosidl_generator_c;rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rcutils::rcutils"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/export_arm_msgs__rosidl_generator_cExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_generator_cppExport.cmake

@@ -0,0 +1,107 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 3.0.0 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "3.0.0")
+   message(FATAL_ERROR "CMake >= 3.0.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 3.0.0...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_generator_cpp)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_generator_cpp
+add_library(arm_msgs::arm_msgs__rosidl_generator_cpp INTERFACE IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_generator_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/arm_msgs"
+  INTERFACE_LINK_LIBRARIES "std_msgs::std_msgs__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;geometry_msgs::geometry_msgs__rosidl_generator_cpp;sensor_msgs::sensor_msgs__rosidl_generator_cpp;action_msgs::action_msgs__rosidl_generator_cpp;unique_identifier_msgs::unique_identifier_msgs__rosidl_generator_cpp;rosidl_runtime_cpp::rosidl_runtime_cpp"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/export_arm_msgs__rosidl_generator_cppExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_generator_pyExport-noconfig.cmake

@@ -0,0 +1,20 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_generator_py" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_generator_py APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_generator_py PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "arm_msgs::arm_msgs__rosidl_generator_c;Python::Python"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_generator_py.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_generator_py.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_generator_py )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_generator_py "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_generator_py.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_generator_pyExport.cmake

@@ -0,0 +1,122 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_generator_py)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_generator_py
+add_library(arm_msgs::arm_msgs__rosidl_generator_py SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_generator_py PROPERTIES
+  INTERFACE_LINK_LIBRARIES "arm_msgs::arm_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_py;builtin_interfaces::builtin_interfaces__rosidl_generator_py;geometry_msgs::geometry_msgs__rosidl_generator_py;sensor_msgs::sensor_msgs__rosidl_generator_py;action_msgs::action_msgs__rosidl_generator_py;unique_identifier_msgs::unique_identifier_msgs__rosidl_generator_py"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/export_arm_msgs__rosidl_generator_pyExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_typesupport_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_typesupport_fastrtps_cExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_fastrtps_c.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_typesupport_fastrtps_c.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_fastrtps_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_typesupport_fastrtps_cExport.cmake

@@ -0,0 +1,123 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c
+add_library(arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/arm_msgs"
+  INTERFACE_LINK_LIBRARIES "fastcdr;rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c;arm_msgs::arm_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_fastrtps_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_fastrtps_c;geometry_msgs::geometry_msgs__rosidl_typesupport_fastrtps_c;sensor_msgs::sensor_msgs__rosidl_typesupport_fastrtps_c;action_msgs::action_msgs__rosidl_typesupport_fastrtps_c;unique_identifier_msgs::unique_identifier_msgs__rosidl_typesupport_fastrtps_c"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/export_arm_msgs__rosidl_typesupport_fastrtps_cExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_generator_c" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_typesupport_fastrtps_cppExport-noconfig.cmake

@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp" for configuration ""
+set_property(TARGET arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_fastrtps_cpp.so"
+  IMPORTED_SONAME_NOCONFIG "libarm_msgs__rosidl_typesupport_fastrtps_cpp.so"
+  )
+
+list(APPEND _cmake_import_check_targets arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp )
+list(APPEND _cmake_import_check_files_for_arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp "${_IMPORT_PREFIX}/lib/libarm_msgs__rosidl_typesupport_fastrtps_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

install_sim/arm_msgs/share/arm_msgs/cmake/export_arm_msgs__rosidl_typesupport_fastrtps_cppExport.cmake

@@ -0,0 +1,123 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.12")
+   message(FATAL_ERROR "CMake >= 2.8.12 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.12...4.1)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp
+add_library(arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp SHARED IMPORTED)
+
+set_target_properties(arm_msgs::arm_msgs__rosidl_typesupport_fastrtps_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/arm_msgs"
+  INTERFACE_LINK_LIBRARIES "fastcdr;rmw::rmw;rosidl_runtime_c::rosidl_runtime_c;rosidl_runtime_cpp::rosidl_runtime_cpp;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp;std_msgs::std_msgs__rosidl_typesupport_fastrtps_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_fastrtps_cpp;geometry_msgs::geometry_msgs__rosidl_typesupport_fastrtps_cpp;sensor_msgs::sensor_msgs__rosidl_typesupport_fastrtps_cpp;action_msgs::action_msgs__rosidl_typesupport_fastrtps_cpp;unique_identifier_msgs::unique_identifier_msgs__rosidl_typesupport_fastrtps_cpp;arm_msgs::arm_msgs__rosidl_generator_cpp"
+)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/export_arm_msgs__rosidl_typesupport_fastrtps_cppExport-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# Make sure the targets which have been exported in some other
+# export set exist.
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+foreach(_target "arm_msgs::arm_msgs__rosidl_generator_cpp" )
+  if(NOT TARGET "${_target}" )
+    set(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets "${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets} ${_target}")
+  endif()
+endforeach()
+
+if(DEFINED ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+  if(CMAKE_FIND_PACKAGE_NAME)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_FOUND FALSE)
+    set( ${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  else()
+    message(FATAL_ERROR "The following imported targets are referenced, but are missing: ${${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets}")
+  endif()
+endif()
+unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

install_sim/arm_msgs/share/arm_msgs/cmake/rosidl_cmake-extras.cmake

@@ -0,0 +1,4 @@
+# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
+
+set(arm_msgs_IDL_FILES "msg/ArmStatus.idl;msg/JointCommand.idl;msg/GripperCommand.idl;msg/GripperStatus.idl;msg/HoleDetection.idl;msg/HoleDetections.idl;msg/TactileStatus.idl;srv/SetNamedPose.idl;srv/GetArmState.idl;srv/GripperExecute.idl;srv/SwitchTool.idl;action/MoveToPose.idl;action/FollowJointTrajectory.idl;action/CompliantDescent.idl")
+set(arm_msgs_INTERFACE_FILES "msg/ArmStatus.msg;msg/JointCommand.msg;msg/GripperCommand.msg;msg/GripperStatus.msg;msg/HoleDetection.msg;msg/HoleDetections.msg;msg/TactileStatus.msg;srv/SetNamedPose.srv;srv/SetNamedPose_Request.msg;srv/SetNamedPose_Response.msg;srv/GetArmState.srv;srv/GetArmState_Request.msg;srv/GetArmState_Response.msg;srv/GripperExecute.srv;srv/GripperExecute_Request.msg;srv/GripperExecute_Response.msg;srv/SwitchTool.srv;srv/SwitchTool_Request.msg;srv/SwitchTool_Response.msg;action/MoveToPose.action;action/FollowJointTrajectory.action;action/CompliantDescent.action")

install_sim/arm_msgs/share/arm_msgs/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake

@@ -0,0 +1,49 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
+
+set(_exported_typesupport_libraries
+  "__rosidl_typesupport_fastrtps_c:arm_msgs__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:arm_msgs__rosidl_typesupport_fastrtps_cpp")
+
+# populate arm_msgs_LIBRARIES_<suffix>
+if(NOT _exported_typesupport_libraries STREQUAL "")
+  # loop over typesupport libraries
+  foreach(_tuple ${_exported_typesupport_libraries})
+    string(REPLACE ":" ";" _tuple "${_tuple}")
+    list(GET _tuple 0 _suffix)
+    list(GET _tuple 1 _library)
+
+    if(NOT IS_ABSOLUTE "${_library}")
+      # search for library target relative to this CMake file
+      set(_lib "NOTFOUND")
+      find_library(
+        _lib NAMES "${_library}"
+        PATHS "${arm_msgs_DIR}/../../../lib"
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
+      )
+
+      if(NOT _lib)
+        # the library wasn't found
+        message(FATAL_ERROR
+          "Package 'arm_msgs' exports the typesupport library '${_library}' which couldn't be found")
+      elseif(NOT IS_ABSOLUTE "${_lib}")
+        # the found library must be an absolute path
+        message(FATAL_ERROR
+          "Package 'arm_msgs' found the typesupport library '${_library}' at '${_lib}' "
+          "which is not an absolute path")
+      elseif(NOT EXISTS "${_lib}")
+        # the found library must exist
+        message(FATAL_ERROR "Package 'arm_msgs' found the typesupport library '${_lib}' which doesn't exist")
+      else()
+        list(APPEND arm_msgs_LIBRARIES${_suffix} ${_cfg} "${_lib}")
+      endif()
+
+    else()
+      if(NOT EXISTS "${_library}")
+        # the found library must exist
+        message(WARNING "Package 'arm_msgs' exports the typesupport library '${_library}' which doesn't exist")
+      else()
+        list(APPEND arm_msgs_LIBRARIES${_suffix} "${_library}")
+      endif()
+    endif()
+  endforeach()
+endif()

install_sim/arm_msgs/share/arm_msgs/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake

@@ -0,0 +1,23 @@
+# generated from
+# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
+
+set(_exported_typesupport_targets
+  "__rosidl_generator_c:arm_msgs__rosidl_generator_c;__rosidl_typesupport_fastrtps_c:arm_msgs__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_introspection_c:arm_msgs__rosidl_typesupport_introspection_c;__rosidl_typesupport_c:arm_msgs__rosidl_typesupport_c;__rosidl_generator_cpp:arm_msgs__rosidl_generator_cpp;__rosidl_typesupport_fastrtps_cpp:arm_msgs__rosidl_typesupport_fastrtps_cpp;__rosidl_typesupport_introspection_cpp:arm_msgs__rosidl_typesupport_introspection_cpp;__rosidl_typesupport_cpp:arm_msgs__rosidl_typesupport_cpp;__rosidl_generator_py:arm_msgs__rosidl_generator_py")
+
+# populate arm_msgs_TARGETS_<suffix>
+if(NOT _exported_typesupport_targets STREQUAL "")
+  # loop over typesupport targets
+  foreach(_tuple ${_exported_typesupport_targets})
+    string(REPLACE ":" ";" _tuple "${_tuple}")
+    list(GET _tuple 0 _suffix)
+    list(GET _tuple 1 _target)
+
+    set(_target "arm_msgs::${_target}")
+    if(NOT TARGET "${_target}")
+      # the exported target must exist
+      message(WARNING "Package 'arm_msgs' exports the typesupport target '${_target}' which doesn't exist")
+    else()
+      list(APPEND arm_msgs_TARGETS${_suffix} "${_target}")
+    endif()
+  endforeach()
+endif()

install_sim/arm_msgs/share/arm_msgs/environment/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

install_sim/arm_msgs/share/arm_msgs/environment/ament_prefix_path.sh

@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

install_sim/arm_msgs/share/arm_msgs/environment/path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin

install_sim/arm_msgs/share/arm_msgs/environment/path.sh

@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi

install_sim/arm_msgs/share/arm_msgs/environment/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.11/site-packages

install_sim/arm_msgs/share/arm_msgs/environment/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$AMENT_CURRENT_PREFIX/lib/python3.11/site-packages"

install_sim/arm_msgs/share/arm_msgs/hook/cmake_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;

install_sim/arm_msgs/share/arm_msgs/hook/cmake_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

install_sim/arm_msgs/share/arm_msgs/hook/cmake_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

install_sim/arm_msgs/share/arm_msgs/hook/ld_library_path_lib.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib

install_sim/arm_msgs/share/arm_msgs/hook/ld_library_path_lib.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX/lib"

install_sim/arm_msgs/share/arm_msgs/hook/ld_library_path_lib.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"

install_sim/arm_msgs/share/arm_msgs/hook/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.11/site-packages

install_sim/arm_msgs/share/arm_msgs/hook/pythonpath.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX/lib/python3.11/site-packages"

install_sim/arm_msgs/share/arm_msgs/hook/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.11/site-packages"

install_sim/arm_msgs/share/arm_msgs/local_setup.bash

@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install_sim/arm_msgs/share/arm_msgs/local_setup.dsv

@@ -0,0 +1,3 @@
+source;share/arm_msgs/environment/ament_prefix_path.sh
+source;share/arm_msgs/environment/path.sh
+source;share/arm_msgs/environment/pythonpath.sh

install_sim/arm_msgs/share/arm_msgs/local_setup.sh

@@ -0,0 +1,185 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install_sim/arm_msgs"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_msgs/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_msgs/environment/path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_msgs/environment/pythonpath.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

install_sim/arm_msgs/share/arm_msgs/local_setup.zsh

@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install_sim/arm_msgs/share/arm_msgs/msg/ArmStatus.idl

@@ -0,0 +1,36 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/ArmStatus.msg
+// generated code does not contain a copyright notice
+
+#include "geometry_msgs/msg/PoseStamped.idl"
+#include "std_msgs/msg/Header.idl"
+
+module arm_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "High-level arm status for monitoring / HMI")
+    struct ArmStatus {
+      std_msgs::msg::Header header;
+
+      @verbatim (language="comment", text=
+        "idle | moving | error | estop")
+      string mode;
+
+      boolean is_moving;
+
+      boolean is_homed;
+
+      @verbatim (language="comment", text=
+        "rad")
+      sequence<double> joint_positions;
+
+      @verbatim (language="comment", text=
+        "rad/s")
+      sequence<double> joint_velocities;
+
+      geometry_msgs::msg::PoseStamped ee_pose;
+
+      string error_message;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/ArmStatus.msg

@@ -0,0 +1,9 @@
+# High-level arm status for monitoring / HMI
+std_msgs/Header header
+string mode                     # idle | moving | error | estop
+bool is_moving
+bool is_homed
+float64[] joint_positions       # rad
+float64[] joint_velocities      # rad/s
+geometry_msgs/PoseStamped ee_pose
+string error_message

install_sim/arm_msgs/share/arm_msgs/msg/GripperCommand.idl

@@ -0,0 +1,33 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/GripperCommand.msg
+// generated code does not contain a copyright notice
+
+#include "std_msgs/msg/Header.idl"
+
+module arm_msgs {
+  module msg {
+    struct GripperCommand {
+      std_msgs::msg::Header header;
+
+      @verbatim (language="comment", text=
+        "init|init_full|connect|open|close|stop|move|rotate|rotate_to|rotate_by|rotate_revolutions|home_rotation|set_force|set_speed|set_finger_force|set_finger_speed")
+      string command;
+
+      @verbatim (language="comment", text=
+        "command=move: 平行夹爪行程 mm；command=rotate/rotate_by: 角度 deg；command=rotate_revolutions: 圈数")
+      double position;
+
+      @verbatim (language="comment", text=
+        "速度百分比（1~100）")
+      double speed;
+
+      @verbatim (language="comment", text=
+        "力/力矩百分比（DH 一般 20~100）")
+      double force;
+
+      boolean wait_complete;
+
+      double timeout;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/GripperCommand.msg

@@ -0,0 +1,16 @@
+std_msgs/Header header
+
+# init|init_full|connect|open|close|stop|move|rotate|rotate_to|rotate_by|rotate_revolutions|home_rotation|set_force|set_speed|set_finger_force|set_finger_speed
+string command
+
+# command=move: 平行夹爪行程 mm；command=rotate/rotate_by: 角度 deg；command=rotate_revolutions: 圈数
+float64 position
+
+# 速度百分比（1~100）
+float64 speed
+
+# 力/力矩百分比（DH 一般 20~100）
+float64 force
+
+bool wait_complete
+float64 timeout

install_sim/arm_msgs/share/arm_msgs/msg/GripperStatus.idl

@@ -0,0 +1,60 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/GripperStatus.msg
+// generated code does not contain a copyright notice
+
+#include "std_msgs/msg/Header.idl"
+
+module arm_msgs {
+  module msg {
+    struct GripperStatus {
+      std_msgs::msg::Header header;
+
+      string name;
+
+      @verbatim (language="comment", text=
+        "parallel|rotary")
+      string gripper_type;
+
+      @verbatim (language="comment", text=
+        "IDLE|MOVING|GRIPPING|RELEASING|ERROR")
+      string state;
+
+      boolean connected;
+
+      boolean initialized;
+
+      boolean is_moving;
+
+      boolean is_gripped;
+
+      @verbatim (language="comment", text=
+        "平行夹爪：当前行程 mm；旋转夹爪：当前旋转角度 deg")
+      double position;
+
+      @verbatim (language="comment", text=
+        "RGI 旋转夹爪额外反馈；平行夹爪为 0")
+      double finger_position_per_mille;
+
+      double rotation_deg;
+
+      @verbatim (language="comment", text=
+        "DH 原始状态字；未读到为 -1" "\n"
+        "0 moving, 1 reached, 2 object caught, 3 object dropped")
+      int32 gripper_state;
+
+      @verbatim (language="comment", text=
+        "RGI: 0 moving, 1 reached, 2 blocking, 3 had been blocked")
+      int32 rotation_state;
+
+      @verbatim (language="comment", text=
+        "最近一次命令速度 %")
+      double velocity;
+
+      @verbatim (language="comment", text=
+        "最近一次命令力/力矩 %")
+      double force;
+
+      string error_msg;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/GripperStatus.msg

@@ -0,0 +1,25 @@
+std_msgs/Header header
+
+string name
+string gripper_type      # parallel|rotary
+string state             # IDLE|MOVING|GRIPPING|RELEASING|ERROR
+
+bool connected
+bool initialized
+bool is_moving
+bool is_gripped
+
+# 平行夹爪：当前行程 mm；旋转夹爪：当前旋转角度 deg
+float64 position
+
+# RGI 旋转夹爪额外反馈；平行夹爪为 0
+float64 finger_position_per_mille
+float64 rotation_deg
+
+# DH 原始状态字；未读到为 -1
+int32 gripper_state      # 0 moving, 1 reached, 2 object caught, 3 object dropped
+int32 rotation_state     # RGI: 0 moving, 1 reached, 2 blocking, 3 had been blocked
+
+float64 velocity         # 最近一次命令速度 %
+float64 force            # 最近一次命令力/力矩 %
+string error_msg

install_sim/arm_msgs/share/arm_msgs/msg/HoleDetection.idl

@@ -0,0 +1,22 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/HoleDetection.msg
+// generated code does not contain a copyright notice
+
+
+module arm_msgs {
+  module msg {
+    struct HoleDetection {
+      float u;
+
+      float v;
+
+      float radius_px;
+
+      float confidence;
+
+      string label;
+
+      sequence<int32> bbox;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/HoleDetection.msg

@@ -0,0 +1,6 @@
+float32 u
+float32 v
+float32 radius_px
+float32 confidence
+string label
+int32[] bbox

install_sim/arm_msgs/share/arm_msgs/msg/HoleDetections.idl

@@ -0,0 +1,20 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/HoleDetections.msg
+// generated code does not contain a copyright notice
+
+#include "arm_msgs/msg/HoleDetection.idl"
+#include "std_msgs/msg/Header.idl"
+
+module arm_msgs {
+  module msg {
+    struct HoleDetections {
+      std_msgs::msg::Header header;
+
+      boolean ok;
+
+      string message;
+
+      sequence<arm_msgs::msg::HoleDetection> holes;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/HoleDetections.msg

@@ -0,0 +1,4 @@
+std_msgs/Header header
+bool ok
+string message
+arm_msgs/HoleDetection[] holes

install_sim/arm_msgs/share/arm_msgs/msg/JointCommand.idl

@@ -0,0 +1,27 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/JointCommand.msg
+// generated code does not contain a copyright notice
+
+#include "std_msgs/msg/Header.idl"
+
+module arm_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Single-shot joint command (position or velocity)")
+    struct JointCommand {
+      std_msgs::msg::Header header;
+
+      sequence<string> joint_names;
+
+      sequence<double> positions;
+
+      sequence<double> velocities;
+
+      sequence<double> accelerations;
+
+      @verbatim (language="comment", text=
+        "seconds")
+      double time_from_start;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/JointCommand.msg

@@ -0,0 +1,7 @@
+# Single-shot joint command (position or velocity)
+std_msgs/Header header
+string[] joint_names
+float64[] positions
+float64[] velocities
+float64[] accelerations
+float64 time_from_start         # seconds

install_sim/arm_msgs/share/arm_msgs/msg/TactileStatus.idl

@@ -0,0 +1,33 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from arm_msgs/msg/TactileStatus.msg
+// generated code does not contain a copyright notice
+
+#include "std_msgs/msg/Header.idl"
+
+module arm_msgs {
+  module msg {
+    struct TactileStatus {
+      std_msgs::msg::Header header;
+
+      string side;
+
+      boolean connected;
+
+      boolean contact;
+
+      float fnormal;
+
+      float fshearx;
+
+      float fsheary;
+
+      float fps;
+
+      float centroid_u;
+
+      float centroid_v;
+
+      string error_msg;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/msg/TactileStatus.msg

@@ -0,0 +1,11 @@
+std_msgs/Header header
+string side
+bool connected
+bool contact
+float32 fnormal
+float32 fshearx
+float32 fsheary
+float32 fps
+float32 centroid_u
+float32 centroid_v
+string error_msg

install_sim/arm_msgs/share/arm_msgs/package.bash

@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/arm_msgs/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/arm_msgs/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

install_sim/arm_msgs/share/arm_msgs/package.dsv

@@ -0,0 +1,14 @@
+source;share/arm_msgs/hook/cmake_prefix_path.ps1
+source;share/arm_msgs/hook/cmake_prefix_path.dsv
+source;share/arm_msgs/hook/cmake_prefix_path.sh
+source;share/arm_msgs/hook/ld_library_path_lib.ps1
+source;share/arm_msgs/hook/ld_library_path_lib.dsv
+source;share/arm_msgs/hook/ld_library_path_lib.sh
+source;share/arm_msgs/hook/pythonpath.ps1
+source;share/arm_msgs/hook/pythonpath.dsv
+source;share/arm_msgs/hook/pythonpath.sh
+source;share/arm_msgs/local_setup.bash
+source;share/arm_msgs/local_setup.dsv
+source;share/arm_msgs/local_setup.ps1
+source;share/arm_msgs/local_setup.sh
+source;share/arm_msgs/local_setup.zsh

install_sim/arm_msgs/share/arm_msgs/package.ps1

@@ -0,0 +1,118 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_msgs/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_msgs/hook/ld_library_path_lib.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_msgs/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_msgs/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

install_sim/arm_msgs/share/arm_msgs/package.sh

@@ -0,0 +1,89 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/cc/ros2/install_sim/arm_msgs"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_msgs/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_msgs/hook/ld_library_path_lib.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_msgs/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_msgs/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

install_sim/arm_msgs/share/arm_msgs/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arm_msgs</name>
+  <version>0.1.0</version>
+  <description>Custom messages, services and actions for the robotic arm stack.</description>
+  <maintainer email="dev@example.com">arm_dev</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>sensor_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

install_sim/arm_msgs/share/arm_msgs/package.zsh

@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/arm_msgs/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/arm_msgs/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

install_sim/arm_msgs/share/arm_msgs/srv/GetArmState.idl

@@ -0,0 +1,24 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from arm_msgs/srv/GetArmState.srv
+// generated code does not contain a copyright notice
+
+#include "geometry_msgs/msg/PoseStamped.idl"
+
+module arm_msgs {
+  module srv {
+    struct GetArmState_Request {
+      uint8 structure_needs_at_least_one_member;
+    };
+    struct GetArmState_Response {
+      boolean success;
+
+      string mode;
+
+      sequence<double> joint_positions;
+
+      geometry_msgs::msg::PoseStamped ee_pose;
+
+      string message;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/srv/GetArmState.srv

@@ -0,0 +1,6 @@
+---
+bool success
+string mode
+float64[] joint_positions
+geometry_msgs/PoseStamped ee_pose
+string message

install_sim/arm_msgs/share/arm_msgs/srv/GetArmState_Response.msg

@@ -0,0 +1,6 @@
+
+bool success
+string mode
+float64[] joint_positions
+geometry_msgs/PoseStamped ee_pose
+string message

install_sim/arm_msgs/share/arm_msgs/srv/GripperExecute.idl

@@ -0,0 +1,21 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from arm_msgs/srv/GripperExecute.srv
+// generated code does not contain a copyright notice
+
+#include "arm_msgs/msg/GripperCommand.idl"
+#include "arm_msgs/msg/GripperStatus.idl"
+
+module arm_msgs {
+  module srv {
+    struct GripperExecute_Request {
+      arm_msgs::msg::GripperCommand command;
+    };
+    struct GripperExecute_Response {
+      boolean success;
+
+      string message;
+
+      arm_msgs::msg::GripperStatus status;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/srv/GripperExecute.srv

@@ -0,0 +1,5 @@
+arm_msgs/GripperCommand command
+---
+bool success
+string message
+arm_msgs/GripperStatus status

install_sim/arm_msgs/share/arm_msgs/srv/GripperExecute_Request.msg

@@ -0,0 +1 @@
+arm_msgs/GripperCommand command

install_sim/arm_msgs/share/arm_msgs/srv/GripperExecute_Response.msg

@@ -0,0 +1,4 @@
+
+bool success
+string message
+arm_msgs/GripperStatus status

install_sim/arm_msgs/share/arm_msgs/srv/SetNamedPose.idl

@@ -0,0 +1,25 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from arm_msgs/srv/SetNamedPose.srv
+// generated code does not contain a copyright notice
+
+
+module arm_msgs {
+  module srv {
+    @verbatim (language="comment", text=
+      "Move to a named pose defined in config (home, ready, inspect, pos_left, ...)")
+    struct SetNamedPose_Request {
+      string pose_name;
+
+      @verbatim (language="comment", text=
+        "(0, 1], 1 = full speed")
+      double velocity_scale;
+
+      double acceleration_scale;
+    };
+    struct SetNamedPose_Response {
+      boolean success;
+
+      string message;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/srv/SetNamedPose.srv

@@ -0,0 +1,7 @@
+# Move to a named pose defined in config (home, ready, inspect, pos_left, ...)
+string pose_name
+float64 velocity_scale          # (0, 1], 1 = full speed
+float64 acceleration_scale
+---
+bool success
+string message

install_sim/arm_msgs/share/arm_msgs/srv/SetNamedPose_Request.msg

@@ -0,0 +1,4 @@
+# Move to a named pose defined in config (home, ready, inspect, pos_left, ...)
+string pose_name
+float64 velocity_scale          # (0, 1], 1 = full speed
+float64 acceleration_scale

install_sim/arm_msgs/share/arm_msgs/srv/SetNamedPose_Response.msg

@@ -0,0 +1,3 @@
+
+bool success
+string message

install_sim/arm_msgs/share/arm_msgs/srv/SwitchTool.idl

@@ -0,0 +1,49 @@
+// generated from rosidl_adapter/resource/srv.idl.em
+// with input from arm_msgs/srv/SwitchTool.srv
+// generated code does not contain a copyright notice
+
+
+module arm_msgs {
+  module srv {
+    @verbatim (language="comment", text=
+      "切换到已保存的工具坐标系（如 tool1）。" "\n"
+      "" "\n"
+      "背景：非夕的工具坐标系（TCP + 质量 + 质心）在 Studio 里预先配好并命名，" "\n"
+      "RDK 只提供「按名字切换」一个操作。通止规装配要求工具系全程垂直向下锁定，" "\n"
+      "所以在流程开始前必须确认已切到正确的工具。" "\n"
+      "" "\n"
+      "实现：arm_driver_flexiv 调用 scripts/rdk_switch_tool.py（子进程，rdk_py310）。" "\n"
+      "注意 RDK 是独占访问，切换时臂必须处于 IDLE 且没有其它进程连着 RDK。")
+    struct SwitchTool_Request {
+      @verbatim (language="comment", text=
+        "Studio 里已保存的工具名。空字符串 = 只查询当前状态，不切换")
+      string tool_name;
+
+      @verbatim (language="comment", text=
+        "目标臂 SN（如 Rizon4-063989）。空 = 用 site.yaml 的 robot.sn")
+      string sn;
+    };
+    typedef double double__3[3];
+    struct SwitchTool_Response {
+      @verbatim (language="comment", text=
+        "是否已达到目标状态（已在该工具上也算成功）")
+      boolean success;
+
+      @verbatim (language="comment", text=
+        "失败原因；成功时为当前工具名说明")
+      string message;
+
+      @verbatim (language="comment", text=
+        "操作后的当前工具名")
+      string current_tool;
+
+      @verbatim (language="comment", text=
+        "该工具的质量（kg）；查询不到为 0")
+      double tool_mass_kg;
+
+      @verbatim (language="comment", text=
+        "该工具的质心（法兰系，m）；查询不到为全 0")
+      double__3 tool_com_m;
+    };
+  };
+};

install_sim/arm_msgs/share/arm_msgs/srv/SwitchTool.srv

@@ -0,0 +1,17 @@
+# 切换到已保存的工具坐标系（如 tool1）。
+#
+# 背景：非夕的工具坐标系（TCP + 质量 + 质心）在 Studio 里预先配好并命名，
+# RDK 只提供「按名字切换」一个操作。通止规装配要求工具系全程垂直向下锁定，
+# 所以在流程开始前必须确认已切到正确的工具。
+#
+# 实现：arm_driver_flexiv 调用 scripts/rdk_switch_tool.py（子进程，rdk_py310）。
+# 注意 RDK 是独占访问，切换时臂必须处于 IDLE 且没有其它进程连着 RDK。
+string tool_name            # Studio 里已保存的工具名。空字符串 = 只查询当前状态，不切换
+
+string sn                   # 目标臂 SN（如 Rizon4-063989）。空 = 用 site.yaml 的 robot.sn
+---
+bool success                # 是否已达到目标状态（已在该工具上也算成功）
+string message              # 失败原因；成功时为当前工具名说明
+string current_tool         # 操作后的当前工具名
+float64 tool_mass_kg        # 该工具的质量（kg）；查询不到为 0
+float64[3] tool_com_m       # 该工具的质心（法兰系，m）；查询不到为全 0

install_sim/arm_msgs/share/arm_msgs/srv/SwitchTool_Request.msg

@@ -0,0 +1,11 @@
+# 切换到已保存的工具坐标系（如 tool1）。
+#
+# 背景：非夕的工具坐标系（TCP + 质量 + 质心）在 Studio 里预先配好并命名，
+# RDK 只提供「按名字切换」一个操作。通止规装配要求工具系全程垂直向下锁定，
+# 所以在流程开始前必须确认已切到正确的工具。
+#
+# 实现：arm_driver_flexiv 调用 scripts/rdk_switch_tool.py（子进程，rdk_py310）。
+# 注意 RDK 是独占访问，切换时臂必须处于 IDLE 且没有其它进程连着 RDK。
+string tool_name            # Studio 里已保存的工具名。空字符串 = 只查询当前状态，不切换
+
+string sn                   # 目标臂 SN（如 Rizon4-063989）。空 = 用 site.yaml 的 robot.sn

install_sim/arm_msgs/share/arm_msgs/srv/SwitchTool_Response.msg

@@ -0,0 +1,6 @@
+
+bool success                # 是否已达到目标状态（已在该工具上也算成功）
+string message              # 失败原因；成功时为当前工具名说明
+string current_tool         # 操作后的当前工具名
+float64 tool_mass_kg        # 该工具的质量（kg）；查询不到为 0
+float64[3] tool_com_m       # 该工具的质心（法兰系，m）；查询不到为全 0

install_sim/arm_msgs/share/colcon-core/packages/arm_msgs

@@ -0,0 +1 @@
+builtin_interfaces:geometry_msgs:rosidl_default_runtime:sensor_msgs:std_msgs