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 @@
|
||||
arm_description;moveit_ros_move_group;moveit_kinematics;moveit_planners_ompl;moveit_ros_visualization;moveit_configs_utils;xacro;rviz2
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+1
@@ -0,0 +1 @@
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/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_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
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+14
@@ -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_moveit_config_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED arm_moveit_config_FOUND)
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# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(arm_moveit_config_FOUND FALSE)
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elseif(NOT arm_moveit_config_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(arm_moveit_config_FOUND FALSE)
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endif()
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return()
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endif()
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set(_arm_moveit_config_CONFIG_INCLUDED TRUE)
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# output package information
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if(NOT arm_moveit_config_FIND_QUIETLY)
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message(STATUS "Found arm_moveit_config: 0.1.0 (${arm_moveit_config_DIR})")
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endif()
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# warn when using a deprecated package
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if(NOT "" STREQUAL "")
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set(_msg "Package 'arm_moveit_config' is deprecated")
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# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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# optionally quiet the deprecation message
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if(NOT ${arm_moveit_config_DEPRECATED_QUIET})
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message(DEPRECATION "${_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_moveit_config_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_moveit_config_DIR}/${_extra}")
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endforeach()
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@@ -0,0 +1,36 @@
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joint_limits:
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joint1:
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has_velocity_limits: true
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max_velocity: 2.0944
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has_acceleration_limits: true
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max_acceleration: 5.0
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joint2:
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has_velocity_limits: true
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max_velocity: 2.0944
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has_acceleration_limits: true
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max_acceleration: 5.0
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joint3:
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has_velocity_limits: true
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max_velocity: 2.4435
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has_acceleration_limits: true
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max_acceleration: 5.0
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joint4:
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has_velocity_limits: true
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max_velocity: 2.4435
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has_acceleration_limits: true
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max_acceleration: 5.0
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joint5:
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has_velocity_limits: true
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max_velocity: 4.8869
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has_acceleration_limits: true
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max_acceleration: 8.0
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joint6:
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has_velocity_limits: true
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max_velocity: 4.8869
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has_acceleration_limits: true
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max_acceleration: 8.0
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joint7:
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has_velocity_limits: true
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max_velocity: 4.8869
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has_acceleration_limits: true
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max_acceleration: 8.0
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@@ -0,0 +1,4 @@
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rizon_arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.005
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kinematics_solver_timeout: 0.05
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@@ -0,0 +1,22 @@
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trajectory_execution:
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allowed_execution_duration_scaling: 1.2
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allowed_goal_duration_margin: 0.5
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allowed_start_tolerance: 0.01
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- rizon_arm_controller
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rizon_arm_controller:
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type: FollowJointTrajectory
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action_ns: follow_joint_trajectory
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default: true
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joints:
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- Rizon4-063989_joint1
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- Rizon4-063989_joint2
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- Rizon4-063989_joint3
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- Rizon4-063989_joint4
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- Rizon4-063989_joint5
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- Rizon4-063989_joint6
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- Rizon4-063989_joint7
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@@ -0,0 +1,24 @@
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planning_plugin: ompl_interface/OMPLPlanner
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request_adapters: >-
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default_planner_request_adapters/AddTimeOptimalParameterization
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default_planner_request_adapters/ResolveConstraintFrames
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default_planner_request_adapters/FixWorkspaceBounds
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default_planner_request_adapters/FixStartStateBounds
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default_planner_request_adapters/FixStartStateCollision
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default_planner_request_adapters/FixStartStatePathConstraints
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start_state_max_bounds_error: 0.1
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planner_configs:
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RRTConnect:
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type: geometric::RRTConnect
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range: 0.0
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RRTstar:
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type: geometric::RRTstar
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range: 0.0
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rizon_arm:
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planner_configs:
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- RRTConnect
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- RRTstar
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projection_evaluator: joints(joint1,joint2)
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longest_valid_segment_fraction: 0.005
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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 "$env:COLCON_CURRENT_PREFIX"
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@@ -0,0 +1,3 @@
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
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||||
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||||
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
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@@ -0,0 +1,85 @@
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||||
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import Command, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from ament_index_python.packages import get_package_share_directory
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import os
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import yaml
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def _load_yaml(path: str):
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with open(path, 'r', encoding='utf-8') as f:
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return yaml.safe_load(f)
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def _launch_setup(context, *args, **kwargs):
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use_fake = LaunchConfiguration('use_fake_hardware').perform(context)
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# 同 ros2_control.launch.py：这里以前也不传 robot_sn，靠 xacro 里写死的默认值。
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robot_sn = LaunchConfiguration('robot_sn').perform(context)
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desc_share = get_package_share_directory('arm_description')
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moveit_share = get_package_share_directory('arm_moveit_config')
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urdf_path = os.path.join(desc_share, 'urdf', 'arm.urdf.xacro')
|
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srdf_path = os.path.join(moveit_share, 'srdf', 'arm.srdf')
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||||
|
||||
robot_description = ParameterValue(
|
||||
Command([
|
||||
'xacro ', urdf_path,
|
||||
' robot_sn:=', robot_sn,
|
||||
' use_fake_hardware:=', use_fake,
|
||||
]),
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||||
value_type=str,
|
||||
)
|
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with open(srdf_path, 'r', encoding='utf-8') as f:
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robot_description_semantic = f.read()
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kinematics = _load_yaml(os.path.join(moveit_share, 'config', 'kinematics.yaml'))
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ompl = _load_yaml(os.path.join(moveit_share, 'config', 'ompl_planning.yaml'))
|
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controllers = _load_yaml(os.path.join(moveit_share, 'config', 'moveit_controllers.yaml'))
|
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joint_limits = _load_yaml(os.path.join(moveit_share, 'config', 'joint_limits.yaml'))
|
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move_group_params = {
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'robot_description': robot_description,
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'robot_description_semantic': robot_description_semantic,
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'robot_description_kinematics': kinematics,
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'robot_description_planning': joint_limits,
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||||
'ompl': ompl,
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'planning_pipelines': ['ompl'],
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'default_planning_pipeline': 'ompl',
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**controllers,
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}
|
||||
|
||||
move_group = Node(
|
||||
package='moveit_ros_move_group',
|
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executable='move_group',
|
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output='screen',
|
||||
parameters=[move_group_params],
|
||||
)
|
||||
|
||||
rviz = Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz2',
|
||||
output='screen',
|
||||
parameters=[
|
||||
{'robot_description': robot_description},
|
||||
{'robot_description_semantic': robot_description_semantic},
|
||||
],
|
||||
)
|
||||
|
||||
return [move_group, rviz]
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument('use_fake_hardware', default_value='true'),
|
||||
# 从环境取当前臂 SN，避免靠 xacro 里的写死默认值"蒙对"。
|
||||
DeclareLaunchArgument(
|
||||
'robot_sn',
|
||||
default_value=os.environ.get('SITE_ROBOT_SN', '').strip(),
|
||||
description='当前臂 SN；关节名会变成 {SN}_joint1..joint7（连字符保留）',
|
||||
),
|
||||
OpaqueFunction(function=_launch_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_moveit_config/environment/ament_prefix_path.sh
|
||||
source;share/arm_moveit_config/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
|
||||
: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install/arm_moveit_config"}
|
||||
if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/arm_moveit_config/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/arm_moveit_config/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_moveit_config/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_moveit_config/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_moveit_config/hook/cmake_prefix_path.ps1
|
||||
source;share/arm_moveit_config/hook/cmake_prefix_path.dsv
|
||||
source;share/arm_moveit_config/hook/cmake_prefix_path.sh
|
||||
source;share/arm_moveit_config/local_setup.bash
|
||||
source;share/arm_moveit_config/local_setup.dsv
|
||||
source;share/arm_moveit_config/local_setup.ps1
|
||||
source;share/arm_moveit_config/local_setup.sh
|
||||
source;share/arm_moveit_config/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_moveit_config/hook/cmake_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/arm_moveit_config/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_moveit_config"
|
||||
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_moveit_config/hook/cmake_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/arm_moveit_config/local_setup.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>arm_moveit_config</name>
|
||||
<version>0.1.0</version>
|
||||
<description>MoveIt2 configuration template for the 6-DOF arm.</description>
|
||||
<maintainer email="dev@example.com">arm_dev</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>arm_description</exec_depend>
|
||||
<exec_depend>moveit_ros_move_group</exec_depend>
|
||||
<exec_depend>moveit_kinematics</exec_depend>
|
||||
<exec_depend>moveit_planners_ompl</exec_depend>
|
||||
<exec_depend>moveit_ros_visualization</exec_depend>
|
||||
<exec_depend>moveit_configs_utils</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>rviz2</exec_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,50 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/arm_moveit_config/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source zsh hooks
|
||||
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/arm_moveit_config/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,37 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!-- MoveIt SRDF — site Rizon4-063989, no gripper. Names match flexiv_description. -->
|
||||
<robot name="rizon4">
|
||||
<group name="rizon_arm">
|
||||
<chain base_link="Rizon4-063989_base_link" tip_link="Rizon4-063989_tcp"/>
|
||||
</group>
|
||||
|
||||
<group_state name="home" group="rizon_arm">
|
||||
<joint name="Rizon4-063989_joint1" value="0"/>
|
||||
<joint name="Rizon4-063989_joint2" value="-0.698"/>
|
||||
<joint name="Rizon4-063989_joint3" value="0"/>
|
||||
<joint name="Rizon4-063989_joint4" value="1.57"/>
|
||||
<joint name="Rizon4-063989_joint5" value="0"/>
|
||||
<joint name="Rizon4-063989_joint6" value="0.698"/>
|
||||
<joint name="Rizon4-063989_joint7" value="0"/>
|
||||
</group_state>
|
||||
|
||||
<group_state name="ready" group="rizon_arm">
|
||||
<joint name="Rizon4-063989_joint1" value="0"/>
|
||||
<joint name="Rizon4-063989_joint2" value="-0.698"/>
|
||||
<joint name="Rizon4-063989_joint3" value="0"/>
|
||||
<joint name="Rizon4-063989_joint4" value="1.57"/>
|
||||
<joint name="Rizon4-063989_joint5" value="0"/>
|
||||
<joint name="Rizon4-063989_joint6" value="0.698"/>
|
||||
<joint name="Rizon4-063989_joint7" value="0"/>
|
||||
</group_state>
|
||||
|
||||
<end_effector name="hand" parent_link="Rizon4-063989_tcp" group="rizon_arm"/>
|
||||
|
||||
<disable_collisions link1="Rizon4-063989_base_link" link2="Rizon4-063989_link1" reason="Adjacent"/>
|
||||
<disable_collisions link1="Rizon4-063989_link1" link2="Rizon4-063989_link2" reason="Adjacent"/>
|
||||
<disable_collisions link1="Rizon4-063989_link2" link2="Rizon4-063989_link3" reason="Adjacent"/>
|
||||
<disable_collisions link1="Rizon4-063989_link3" link2="Rizon4-063989_link4" reason="Adjacent"/>
|
||||
<disable_collisions link1="Rizon4-063989_link4" link2="Rizon4-063989_link5" reason="Adjacent"/>
|
||||
<disable_collisions link1="Rizon4-063989_link5" link2="Rizon4-063989_link6" reason="Adjacent"/>
|
||||
<disable_collisions link1="Rizon4-063989_link6" link2="Rizon4-063989_link7" reason="Adjacent"/>
|
||||
</robot>
|
||||
@@ -0,0 +1 @@
|
||||
arm_description:moveit_configs_utils:moveit_kinematics:moveit_planners_ompl:moveit_ros_move_group:moveit_ros_visualization:rviz2:xacro
|
||||
Reference in New Issue
Block a user