别人克隆后没有 install，source 会直接失败。把展开后的 install 放进仓库，符号链接和指向本机 build 的 egg-link 收成真实文件，Python 入口改走当前环境的解释器，这样不用先 colcon build 也能启动。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
+1
@@ -0,0 +1 @@
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arm_description;arm_control;arm_moveit_config;arm_application
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@@ -0,0 +1 @@
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/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_msgs:/home/cc/anaconda3/envs/ros_flexiv
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@@ -0,0 +1,14 @@
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
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set(PACKAGE_VERSION "0.1.0")
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set(PACKAGE_VERSION_EXACT False)
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set(PACKAGE_VERSION_COMPATIBLE False)
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if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_EXACT True)
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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@@ -0,0 +1,42 @@
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
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# prevent multiple inclusion
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if(_arm_bringup_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED arm_bringup_FOUND)
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# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(arm_bringup_FOUND FALSE)
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elseif(NOT arm_bringup_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(arm_bringup_FOUND FALSE)
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endif()
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return()
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endif()
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set(_arm_bringup_CONFIG_INCLUDED TRUE)
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# output package information
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if(NOT arm_bringup_FIND_QUIETLY)
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message(STATUS "Found arm_bringup: 0.1.0 (${arm_bringup_DIR})")
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endif()
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# warn when using a deprecated package
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if(NOT "" STREQUAL "")
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set(_msg "Package 'arm_bringup' is deprecated")
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# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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# optionally quiet the deprecation message
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if(NOT ${arm_bringup_DEPRECATED_QUIET})
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message(DEPRECATION "${_msg}")
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endif()
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endif()
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# flag package as ament-based to distinguish it after being find_package()-ed
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set(arm_bringup_FOUND_AMENT_PACKAGE TRUE)
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# include all config extra files
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set(_extras "")
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foreach(_extra ${_extras})
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include("${arm_bringup_DIR}/${_extra}")
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endforeach()
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@@ -0,0 +1,14 @@
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# Flexiv Rizon 4 的站点默认值（SN: Rizon4-063989）
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robot_sn: Rizon4-063989
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rizon_type: Rizon4
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# Flexiv Studio 夹爪（GN01）—— 保持 false。DH PGEA 使用 run_gripper.sh。
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load_gripper: false
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use_fake_hardware: false
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start_rviz: true
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# Flexiv 官方关节命名：Rizon4-063989_joint1 ... joint7
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joint_prefix: Rizon4-063989_
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base_frame: base_link
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ee_frame: tcp
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flange_frame: flange
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@@ -0,0 +1 @@
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prepend-non-duplicate;AMENT_PREFIX_PATH;
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@@ -0,0 +1,4 @@
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# copied from
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# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
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ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
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@@ -0,0 +1 @@
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prepend-non-duplicate-if-exists;PATH;bin
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@@ -0,0 +1,5 @@
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# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
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if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
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ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
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fi
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@@ -0,0 +1 @@
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prepend-non-duplicate;CMAKE_PREFIX_PATH;
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@@ -0,0 +1,3 @@
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# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
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colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
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@@ -0,0 +1,3 @@
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
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_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
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@@ -0,0 +1,79 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo, OpaqueFunction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import get_package_share_directory, PackageNotFoundError
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import os
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# 现场机械臂 —— DH PGEA 是独立的 Modbus 节点（run_gripper.sh）。
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# 保持 Flexiv 的 load_gripper 为 false（该开关在 Studio 里对应 Flexiv-GN01）。
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# 必须来自环境（scripts/env.sh → load_site_config.sh 会保证它非空）。
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# 这里**不兜底**成某个具体 SN：兜底等于"环境没加载好也照样启动，连哪台看运气"。
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SITE_ROBOT_SN = os.environ.get('SITE_ROBOT_SN', '').strip()
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def _launch_setup(context, *args, **kwargs):
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robot_sn = LaunchConfiguration('robot_sn').perform(context)
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rizon_type = LaunchConfiguration('rizon_type').perform(context)
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use_fake = LaunchConfiguration('use_fake_hardware').perform(context)
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load_gripper = LaunchConfiguration('load_gripper').perform(context)
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start_rviz = LaunchConfiguration('start_rviz').perform(context)
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if not robot_sn:
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return [
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LogInfo(msg=f'[arm_bringup] 错误：必须提供 robot_sn，例如 robot_sn:={SITE_ROBOT_SN}')
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]
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try:
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get_package_share_directory('flexiv_bringup')
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except PackageNotFoundError:
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return [
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LogInfo(
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msg=(
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'[arm_bringup] 找不到 flexiv_bringup。'
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'请运行 scripts/fetch_flexiv.sh 并编译，或改用 sim.launch.py 跑 mock。'
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)
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)
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]
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return [
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LogInfo(
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msg=(
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f'[arm_bringup] 启动 Flexiv {rizon_type}（{robot_sn}），'
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f'load_gripper={load_gripper}'
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)
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare('flexiv_bringup'), 'launch', 'rizon.launch.py'
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])
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),
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launch_arguments={
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'robot_sn': robot_sn,
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'rizon_type': rizon_type,
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'use_fake_hardware': use_fake,
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'load_gripper': load_gripper,
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'start_rviz': start_rviz,
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}.items(),
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),
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]
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def generate_launch_description():
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"""通过官方 flexiv_bringup 启动真机 Rizon4（RDK v1 / humble-v1）。"""
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return LaunchDescription([
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DeclareLaunchArgument(
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'robot_sn',
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default_value=SITE_ROBOT_SN,
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description='现场机械臂序列号（不能有空格）',
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),
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DeclareLaunchArgument('rizon_type', default_value='Rizon4'),
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DeclareLaunchArgument('use_fake_hardware', default_value='false'),
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# 仅适用于 Flexiv-GN01。DH PGEA 用: bash ~/ros2/scripts/run_gripper.sh
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DeclareLaunchArgument('load_gripper', default_value='false'),
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DeclareLaunchArgument('start_rviz', default_value='true'),
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OpaqueFunction(function=_launch_setup),
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])
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@@ -0,0 +1,50 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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import os
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def generate_launch_description():
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"""Flexiv Rizon 4（7 自由度）的离线 mock 启动，无需真机。"""
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use_rviz = LaunchConfiguration('use_rviz')
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use_moveit = LaunchConfiguration('use_moveit')
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robot_sn = LaunchConfiguration('robot_sn')
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mock = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare('arm_control'), 'launch', 'mock_control.launch.py'
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])
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),
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launch_arguments={
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'use_rviz': use_rviz,
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'robot_sn': robot_sn,
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}.items(),
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)
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moveit = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare('arm_moveit_config'), 'launch', 'move_group.launch.py'
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])
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),
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condition=IfCondition(use_moveit),
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)
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return LaunchDescription([
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DeclareLaunchArgument('use_rviz', default_value='true'),
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DeclareLaunchArgument('use_moveit', default_value='false'),
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# 仿真**故意**不用真机的 SN 前缀：两边同时跑时，同名关节会让 TF 与
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# 控制器互相打架（症状是 RViz 里模型乱跳）。见 devices/sim/gazebo/README.md。
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# 所以默认值是仿真自己的前缀，而不是"把真机那台抄过来"。
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DeclareLaunchArgument(
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'robot_sn',
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default_value=os.environ.get('SITE_SIM_JOINT_PREFIX', 'sim'),
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description='仿真关节前缀；关节名会变成 <前缀>_joint1..joint7（有意与真机不同名）',
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),
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mock,
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moveit,
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])
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@@ -0,0 +1,208 @@
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"""统一的功能栈启动：backend:=mock|moveit|real|isaac
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各后端下应用接口保持不变：
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/set_named_pose, /get_arm_state, /arm_status, /follow_joint_trajectory
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo, OpaqueFunction
|
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from ament_index_python.packages import PackageNotFoundError, get_package_share_directory
|
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|
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# 由 scripts/env.sh → load_site_config.sh 提供；不兜底成具体 SN（见 real.launch.py）。
|
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SITE_SN = os.environ.get('SITE_ROBOT_SN', '').strip()
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SITE_PREFIX = os.environ.get('SITE_JOINT_PREFIX', f'{SITE_SN}_')
|
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SITE_NAMED_POSES = os.environ.get('SITE_NAMED_POSES_FILE', '').strip()
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def _setup(context, *args, **kwargs):
|
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backend = LaunchConfiguration('backend').perform(context).strip().lower()
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use_rviz = LaunchConfiguration('use_rviz')
|
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robot_sn = LaunchConfiguration('robot_sn')
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load_gripper = LaunchConfiguration('load_gripper')
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sn = robot_sn.perform(context).strip() or SITE_SN
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actions = [
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LogInfo(msg=f'[arm_bringup] backend={backend} sn={sn}'),
|
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]
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|
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if backend in ('mock', 'moveit', 'isaac'):
|
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actions.append(
|
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IncludeLaunchDescription(
|
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PythonLaunchDescriptionSource(
|
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PathJoinSubstitution([
|
||||
FindPackageShare('arm_control'),
|
||||
'launch',
|
||||
'mock_control.launch.py',
|
||||
])
|
||||
),
|
||||
launch_arguments={
|
||||
'use_rviz': use_rviz,
|
||||
'robot_sn': robot_sn,
|
||||
'load_gripper': load_gripper,
|
||||
}.items(),
|
||||
)
|
||||
)
|
||||
|
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if backend == 'moveit':
|
||||
actions.append(
|
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Node(
|
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package='arm_control',
|
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executable='trajectory_bridge',
|
||||
name='trajectory_bridge',
|
||||
parameters=[{
|
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'control_action': 'rizon_arm_controller/follow_joint_trajectory',
|
||||
'arm_action': 'follow_joint_trajectory',
|
||||
}],
|
||||
output='screen',
|
||||
)
|
||||
)
|
||||
actions.append(
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution([
|
||||
FindPackageShare('arm_moveit_config'),
|
||||
'launch',
|
||||
'move_group.launch.py',
|
||||
])
|
||||
),
|
||||
launch_arguments={
|
||||
'use_fake_hardware': 'true',
|
||||
'robot_sn': robot_sn,
|
||||
'start_rviz': 'false',
|
||||
}.items(),
|
||||
)
|
||||
)
|
||||
actions.append(
|
||||
LogInfo(
|
||||
msg=(
|
||||
'[arm_bringup] 在 mock 之上叠加 MoveIt。'
|
||||
'命名位姿仍走 /set_named_pose；'
|
||||
'MoveIt 的规划通过 trajectory_bridge 执行。'
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
if backend == 'real':
|
||||
try:
|
||||
get_package_share_directory('flexiv_bringup')
|
||||
except PackageNotFoundError:
|
||||
actions.append(
|
||||
LogInfo(
|
||||
msg=(
|
||||
'[arm_bringup] 缺少 flexiv_bringup。'
|
||||
'请运行: ./scripts/fetch_flexiv.sh && 重新编译。'
|
||||
'临时退回建议：先用 backend:=mock。'
|
||||
)
|
||||
)
|
||||
)
|
||||
return actions
|
||||
actions.append(
|
||||
IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
PathJoinSubstitution([
|
||||
FindPackageShare('arm_bringup'),
|
||||
'launch',
|
||||
'real.launch.py',
|
||||
])
|
||||
),
|
||||
launch_arguments={
|
||||
'robot_sn': robot_sn,
|
||||
'load_gripper': load_gripper,
|
||||
'start_rviz': use_rviz,
|
||||
}.items(),
|
||||
)
|
||||
)
|
||||
# 尽量把应用服务叠在真机之上
|
||||
actions.append(
|
||||
Node(
|
||||
package='arm_control',
|
||||
executable='real_trajectory_adapter',
|
||||
name='real_trajectory_adapter',
|
||||
parameters=[{
|
||||
'control_action': 'rizon_arm_controller/follow_joint_trajectory',
|
||||
'arm_action': 'follow_joint_trajectory',
|
||||
}],
|
||||
output='screen',
|
||||
)
|
||||
)
|
||||
poses_params = []
|
||||
if SITE_NAMED_POSES and os.path.isfile(SITE_NAMED_POSES):
|
||||
poses_params.append(SITE_NAMED_POSES)
|
||||
else:
|
||||
poses_params.append(
|
||||
PathJoinSubstitution([
|
||||
FindPackageShare('arm_control'), 'config', 'named_poses.yaml'
|
||||
])
|
||||
)
|
||||
poses_params.append({'joint_prefix': f'{sn}_'})
|
||||
actions.append(
|
||||
Node(
|
||||
package='arm_control',
|
||||
executable='named_pose_server',
|
||||
name='named_pose_server',
|
||||
parameters=poses_params,
|
||||
output='screen',
|
||||
)
|
||||
)
|
||||
actions.append(
|
||||
Node(
|
||||
package='arm_control',
|
||||
executable='arm_status_node',
|
||||
name='arm_status_node',
|
||||
parameters=[{
|
||||
'base_frame': f'{sn}_base_link',
|
||||
'ee_frame': f'{sn}_flange',
|
||||
'tcp_pose_topic': f'/{sn.replace("-", "_")}/tcp_pose',
|
||||
}],
|
||||
output='screen',
|
||||
)
|
||||
)
|
||||
actions.append(
|
||||
LogInfo(
|
||||
msg=(
|
||||
'[arm_bringup] REAL 模式：flexiv_bringup + named_pose_server '
|
||||
'+ arm_status_node。'
|
||||
'请确保 RDK 已使能，且网络能连到机械臂。'
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
if backend == 'isaac':
|
||||
actions.append(
|
||||
LogInfo(
|
||||
msg=(
|
||||
'[arm_bringup] ISAAC 模式：已起 mock ROS 栈用于桥接测试。'
|
||||
'请另行启动 Isaac Sim + flexiv_sim_plugin '
|
||||
'（见 docs/INTERFACES.md）。'
|
||||
'通过 /joint_states 或 RDK 桥接话题同步关节。'
|
||||
)
|
||||
)
|
||||
)
|
||||
|
||||
if backend not in ('mock', 'moveit', 'real', 'isaac'):
|
||||
actions.append(
|
||||
LogInfo(msg=f'[arm_bringup] 未知 backend "{backend}"。可用 mock|moveit|real|isaac')
|
||||
)
|
||||
|
||||
return actions
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument(
|
||||
'backend',
|
||||
default_value='mock',
|
||||
description='mock | moveit | real | isaac',
|
||||
),
|
||||
DeclareLaunchArgument('use_rviz', default_value='true'),
|
||||
DeclareLaunchArgument('robot_sn', default_value=SITE_SN),
|
||||
DeclareLaunchArgument('load_gripper', default_value='false'),
|
||||
OpaqueFunction(function=_setup),
|
||||
])
|
||||
@@ -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
|
||||
@@ -0,0 +1,2 @@
|
||||
source;share/arm_bringup/environment/ament_prefix_path.sh
|
||||
source;share/arm_bringup/environment/path.sh
|
||||
@@ -0,0 +1,184 @@
|
||||
# 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
|
||||
: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install/arm_bringup"}
|
||||
if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/arm_bringup/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_bringup/environment/path.sh"
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
if [ -f "$_hook" ]; then
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_hook\""
|
||||
fi
|
||||
. "$_hook"
|
||||
fi
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,59 @@
|
||||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(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=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,39 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$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_bringup/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_bringup/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,8 @@
|
||||
source;share/arm_bringup/hook/cmake_prefix_path.ps1
|
||||
source;share/arm_bringup/hook/cmake_prefix_path.dsv
|
||||
source;share/arm_bringup/hook/cmake_prefix_path.sh
|
||||
source;share/arm_bringup/local_setup.bash
|
||||
source;share/arm_bringup/local_setup.dsv
|
||||
source;share/arm_bringup/local_setup.ps1
|
||||
source;share/arm_bringup/local_setup.sh
|
||||
source;share/arm_bringup/local_setup.zsh
|
||||
@@ -0,0 +1,116 @@
|
||||
# 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_bringup/hook/cmake_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_bringup/local_setup.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,87 @@
|
||||
# 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/arm_bringup"
|
||||
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_bringup/hook/cmake_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_bringup/local_setup.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@@ -0,0 +1,20 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>arm_bringup</name>
|
||||
<version>0.1.0</version>
|
||||
<description>Bringup for Flexiv Rizon 4 simulation and real robot.</description>
|
||||
<maintainer email="dev@example.com">arm_dev</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>arm_description</exec_depend>
|
||||
<exec_depend>arm_control</exec_depend>
|
||||
<exec_depend>arm_moveit_config</exec_depend>
|
||||
<exec_depend>arm_application</exec_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,50 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/arm_bringup/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source zsh hooks
|
||||
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/arm_bringup/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1 @@
|
||||
arm_application:arm_control:arm_description:arm_moveit_config
|
||||
Reference in New Issue
Block a user