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Co-authored-by: Cursor <cursoragent@cursor.com>
2026-10-15 11:04:43 +08:00
parent 3c86441fb0
commit 926a7f9796
1492 changed files with 1302154 additions and 2 deletions
@@ -0,0 +1,195 @@
+/**
+ * @file flexiv_robot_states.hpp
+ * @brief Semantic component interface to read the Flexiv robot states.
+ * @copyright Copyright (C) 2016-2024 Flexiv Ltd. All Rights Reserved.
+ */
+
+#ifndef SEMANTIC_COMPONENTS__FLEXIV_ROBOT_STATES_HPP_
+#define SEMANTIC_COMPONENTS__FLEXIV_ROBOT_STATES_HPP_
+
+#include <limits>
+#include <string>
+#include <vector>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/logging.hpp>
+
+#include "hardware_interface/loaned_state_interface.hpp"
+#include "semantic_components/semantic_component_interface.hpp"
+#include "flexiv/rdk/data.hpp"
+#include "flexiv_msgs/msg/robot_states.hpp"
+
+#include "geometry_msgs/msg/accel.hpp"
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/pose.hpp"
+#include "geometry_msgs/msg/quaternion.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "geometry_msgs/msg/vector3.hpp"
+#include "geometry_msgs/msg/wrench.hpp"
+
+namespace {
+
+const std::string kWorldFrameId = "world";
+const std::string kFlangeFrameId = "flange";
+
+// Example implementation of bit_cast: https://en.cppreference.com/w/cpp/numeric/bit_cast
+template <class To, class From>
+std::enable_if_t<sizeof(To) == sizeof(From) && std::is_trivially_copyable<From>::value
+                     && std::is_trivially_copyable<To>::value,
+    To>
+bit_cast(const From& src) noexcept
+{
+    static_assert(std::is_trivially_constructible<To>::value,
+        "This implementation additionally requires "
+        "destination type to be trivially constructible");
+
+    To dst;
+    std::memcpy(&dst, &src, sizeof(To));
+    return dst;
+}
+} // namespace
+
+namespace semantic_components {
+
+class FlexivRobotStates : public SemanticComponentInterface<flexiv_msgs::msg::RobotStates>
+{
+public:
+    FlexivRobotStates(const std::string& name)
+    : SemanticComponentInterface(name, 1)
+    {
+        interface_names_.emplace_back(name_ + "/" + state_interface_name_);
+    }
+
+    virtual ~FlexivRobotStates() = default;
+
+    void init_robot_states_message(flexiv_msgs::msg::RobotStates& message)
+    {
+        message.tcp_pose.header.frame_id = kWorldFrameId;
+        message.tcp_vel.header.frame_id = kWorldFrameId;
+        message.flange_pose.header.frame_id = kWorldFrameId;
+        message.ft_sensor_raw.header.frame_id = name_ + "_" + kFlangeFrameId;
+        message.ext_wrench_in_tcp.header.frame_id = name_ + "_" + kFlangeFrameId;
+        message.ext_wrench_in_world.header.frame_id = kWorldFrameId;
+        message.ext_wrench_in_tcp_raw.header.frame_id = name_ + "_" + kFlangeFrameId;
+        message.ext_wrench_in_world_raw.header.frame_id = kWorldFrameId;
+    }
+
+    /// Return RobotStates message
+    bool get_values_as_message(flexiv_msgs::msg::RobotStates& message)
+    {
+        const std::string flexiv_robot_states_interface_name = name_ + "/" + state_interface_name_;
+
+        auto flexiv_robot_states_interface
+            = std::find_if(state_interfaces_.cbegin(), state_interfaces_.cend(),
+                [&flexiv_robot_states_interface_name](const auto& state_interface) {
+                    return state_interface.get().get_name() == flexiv_robot_states_interface_name;
+                });
+
+        if (flexiv_robot_states_interface != state_interfaces_.end()) {
+            // Get the robot states pointer via bit_cast
+            flexiv_robot_states_ptr = bit_cast<flexiv::rdk::RobotStates*>(
+                (*flexiv_robot_states_interface).get().get_value());
+        } else {
+            RCLCPP_ERROR(
+                rclcpp::get_logger("FlexivRobotStates"), "Robot states interface not found.");
+            return false;
+        }
+
+        // Update timestamps
+        message.tcp_pose.header.stamp = message.header.stamp;
+        message.tcp_vel.header.stamp = message.header.stamp;
+        message.flange_pose.header.stamp = message.header.stamp;
+        message.ft_sensor_raw.header.stamp = message.header.stamp;
+        message.ext_wrench_in_tcp.header.stamp = message.header.stamp;
+        message.ext_wrench_in_world.header.stamp = message.header.stamp;
+        message.ext_wrench_in_tcp_raw.header.stamp = message.header.stamp;
+        message.ext_wrench_in_world_raw.header.stamp = message.header.stamp;
+
+        // Fill the RobotStates message
+        message.robot_timestamp.sec = flexiv_robot_states_ptr->timestamp.first;
+        message.robot_timestamp.nanosec = flexiv_robot_states_ptr->timestamp.second;
+
+        message.q = flexiv_robot_states_ptr->q;
+        message.theta = flexiv_robot_states_ptr->theta;
+        message.dq = flexiv_robot_states_ptr->dq;
+        message.dtheta = flexiv_robot_states_ptr->dtheta;
+        message.tau = flexiv_robot_states_ptr->tau;
+        message.tau_des = flexiv_robot_states_ptr->tau_des;
+        message.tau_dot = flexiv_robot_states_ptr->tau_dot;
+        message.tau_ext = flexiv_robot_states_ptr->tau_ext;
+        message.tau_interact = flexiv_robot_states_ptr->tau_interact;
+        message.temperature = flexiv_robot_states_ptr->temperature;
+
+        message.tcp_pose.pose = toPoseMsg(flexiv_robot_states_ptr->tcp_pose);
+        message.tcp_vel.accel = toAccelMsg(flexiv_robot_states_ptr->tcp_vel);
+        message.flange_pose.pose = toPoseMsg(flexiv_robot_states_ptr->flange_pose);
+        message.ft_sensor_raw.wrench = toWrenchMsg(flexiv_robot_states_ptr->ft_sensor_raw);
+        message.ext_wrench_in_tcp.wrench = toWrenchMsg(flexiv_robot_states_ptr->ext_wrench_in_tcp);
+        message.ext_wrench_in_world.wrench
+            = toWrenchMsg(flexiv_robot_states_ptr->ext_wrench_in_world);
+        message.ext_wrench_in_tcp_raw.wrench
+            = toWrenchMsg(flexiv_robot_states_ptr->ext_wrench_in_tcp_raw);
+        message.ext_wrench_in_world_raw.wrench
+            = toWrenchMsg(flexiv_robot_states_ptr->ext_wrench_in_world_raw);
+
+        return true;
+    }
+
+protected:
+    flexiv::rdk::RobotStates* flexiv_robot_states_ptr;
+
+    const std::string state_interface_name_ {"flexiv_robot_states"};
+
+    // Convert std::array to geometry_msgs::msg::Pose
+    geometry_msgs::msg::Pose toPoseMsg(
+        const std::array<double, flexiv::rdk::kPoseSize>& pose_values)
+    {
+        geometry_msgs::msg::Pose pose_msg;
+        pose_msg.position = geometry_msgs::build<geometry_msgs::msg::Point>()
+                                .x(pose_values[0])
+                                .y(pose_values[1])
+                                .z(pose_values[2]);
+        pose_msg.orientation = geometry_msgs::build<geometry_msgs::msg::Quaternion>()
+                                   .x(pose_values[4])
+                                   .y(pose_values[5])
+                                   .z(pose_values[6])
+                                   .w(pose_values[3]);
+        return pose_msg;
+    }
+
+    // Convert std::array to geometry_msgs::msg::Accel
+    geometry_msgs::msg::Accel toAccelMsg(
+        const std::array<double, flexiv::rdk::kCartDoF>& accel_values)
+    {
+        geometry_msgs::msg::Accel accel_msg;
+        accel_msg.linear = geometry_msgs::build<geometry_msgs::msg::Vector3>()
+                               .x(accel_values[0])
+                               .y(accel_values[1])
+                               .z(accel_values[2]);
+        accel_msg.angular = geometry_msgs::build<geometry_msgs::msg::Vector3>()
+                                .x(accel_values[3])
+                                .y(accel_values[4])
+                                .z(accel_values[5]);
+        return accel_msg;
+    }
+
+    // Convert std::array to geometry_msgs::msg::Wrench
+    geometry_msgs::msg::Wrench toWrenchMsg(
+        const std::array<double, flexiv::rdk::kCartDoF>& wrench_values)
+    {
+        geometry_msgs::msg::Wrench wrench_msg;
+        wrench_msg.force = geometry_msgs::build<geometry_msgs::msg::Vector3>()
+                               .x(wrench_values[0])
+                               .y(wrench_values[1])
+                               .z(wrench_values[2]);
+        wrench_msg.torque = geometry_msgs::build<geometry_msgs::msg::Vector3>()
+                                .x(wrench_values[3])
+                                .y(wrench_values[4])
+                                .z(wrench_values[5]);
+        return wrench_msg;
+    }
+};
+
+} /* namespace semantic_components */
+
+#endif /* SEMANTIC_COMPONENTS__FLEXIV_ROBOT_STATES_HPP_ */
@@ -0,0 +1,79 @@
+/**
+ * @file flexiv_robot_states_broadcaster.hpp
+ * @brief Header file for FlexivRobotStatesBroadcaster class
+ * @copyright Copyright (C) 2016-2024 Flexiv Ltd. All Rights Reserved.
+ */
+
+#ifndef FLEXIV_ROBOT_STATES_BROADCASTER__FLEXIV_ROBOT_STATES_BROADCASTER_HPP_
+#define FLEXIV_ROBOT_STATES_BROADCASTER__FLEXIV_ROBOT_STATES_BROADCASTER_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "controller_interface/controller_interface.hpp"
+#include "flexiv_msgs/msg/robot_states.hpp"
+#include "flexiv_robot_states_broadcaster/flexiv_robot_states.hpp"
+#include "flexiv_robot_states_broadcaster/flexiv_robot_states_broadcaster_parameters.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "realtime_tools/realtime_publisher.hpp"
+
+namespace flexiv_robot_states_broadcaster {
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+const std::string kRobotStatesTopic = "/flexiv_robot_states";
+const std::string kTcpPoseTopic = "/tcp_pose";
+const std::string kTcpVelocityTopic = "/tcp_velocity";
+const std::string kFlangePoseTopic = "/flange_pose";
+const std::string kFTSensorTopic = "/ft_sensor_wrench";
+const std::string kExternalWrenchInTcpFrameTopic = "/external_wrench_in_tcp";
+const std::string kExternalWrenchInWorldFrameTopic = "/external_wrench_in_world";
+
+class FlexivRobotStatesBroadcaster : public controller_interface::ControllerInterface
+{
+public:
+    FlexivRobotStatesBroadcaster();
+
+    controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+    controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+    controller_interface::return_type update(
+        const rclcpp::Time& time, const rclcpp::Duration& period) override;
+
+    CallbackReturn on_init() override;
+
+    CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override;
+
+    CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
+
+    CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
+
+protected:
+    std::shared_ptr<ParamListener> param_listener_;
+    Params params_;
+
+    std::unique_ptr<semantic_components::FlexivRobotStates> flexiv_robot_states_;
+
+    std::shared_ptr<rclcpp::Publisher<flexiv_msgs::msg::RobotStates>>
+        flexiv_robot_states_publisher_;
+    using StatePublisher = realtime_tools::RealtimePublisher<flexiv_msgs::msg::RobotStates>;
+    std::shared_ptr<StatePublisher> realtime_flexiv_robot_states_publisher_;
+
+    using PoseStampedPublisher = rclcpp::Publisher<geometry_msgs::msg::PoseStamped>;
+    std::shared_ptr<PoseStampedPublisher> tcp_pose_publisher_;
+    std::shared_ptr<PoseStampedPublisher> flange_pose_publisher_;
+
+    using AccelStampedPublisher = rclcpp::Publisher<geometry_msgs::msg::AccelStamped>;
+    std::shared_ptr<AccelStampedPublisher> tcp_velocity_publisher_;
+
+    using WrenchStampedPublisher = rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>;
+    std::shared_ptr<WrenchStampedPublisher> ft_sensor_publisher_;
+    std::shared_ptr<WrenchStampedPublisher> external_wrench_in_tcp_publisher_;
+    std::shared_ptr<WrenchStampedPublisher> external_wrench_in_world_publisher_;
+};
+
+} /* namespace flexiv_robot_states_broadcaster */
+
+#endif /* FLEXIV_ROBOT_STATES_BROADCASTER__FLEXIV_ROBOT_STATES_BROADCASTER_HPP_ */
@@ -0,0 +1,234 @@
+// auto-generated DO NOT EDIT
+
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <functional>
+#include <limits>
+#include <mutex>
+#include <rclcpp/node.hpp>
+#include <rclcpp_lifecycle/lifecycle_node.hpp>
+#include <rclcpp/logger.hpp>
+#include <set>
+#include <sstream>
+#include <string>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+#include <fmt/core.h>
+#include <fmt/format.h>
+#include <fmt/ranges.h>
+
+#include <parameter_traits/parameter_traits.hpp>
+
+#include <rsl/static_string.hpp>
+#include <rsl/static_vector.hpp>
+#include <rsl/parameter_validators.hpp>
+
+
+
+namespace flexiv_robot_states_broadcaster {
+
+// Use validators from RSL
+using rsl::unique;
+using rsl::subset_of;
+using rsl::fixed_size;
+using rsl::size_gt;
+using rsl::size_lt;
+using rsl::not_empty;
+using rsl::element_bounds;
+using rsl::lower_element_bounds;
+using rsl::upper_element_bounds;
+using rsl::bounds;
+using rsl::lt;
+using rsl::gt;
+using rsl::lt_eq;
+using rsl::gt_eq;
+using rsl::one_of;
+using rsl::to_parameter_result_msg;
+
+// temporarily needed for backwards compatibility for custom validators
+using namespace parameter_traits;
+
+template <typename T>
+[[nodiscard]] auto to_parameter_value(T value) {
+    return rclcpp::ParameterValue(value);
+}
+
+template <size_t capacity>
+[[nodiscard]] auto to_parameter_value(rsl::StaticString<capacity> const& value) {
+    return rclcpp::ParameterValue(rsl::to_string(value));
+}
+
+template <typename T, size_t capacity>
+[[nodiscard]] auto to_parameter_value(rsl::StaticVector<T, capacity> const& value) {
+    return rclcpp::ParameterValue(rsl::to_vector(value));
+}
+    struct Params {
+        std::string robot_sn = "";
+        // for detecting if the parameter struct has been updated
+        rclcpp::Time __stamp;
+    };
+    struct StackParams {
+    };
+
+  class ParamListener{
+  public:
+    // throws rclcpp::exceptions::InvalidParameterValueException on initialization if invalid parameter are loaded
+    ParamListener(rclcpp::Node::SharedPtr node, std::string const& prefix = "")
+    : ParamListener(node->get_node_parameters_interface(), node->get_logger(), prefix) {}
+
+    ParamListener(rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::string const& prefix = "")
+    : ParamListener(node->get_node_parameters_interface(), node->get_logger(), prefix) {}
+
+    ParamListener(const std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface>& parameters_interface,
+                  std::string const& prefix = "")
+    : ParamListener(parameters_interface, rclcpp::get_logger("flexiv_robot_states_broadcaster"), prefix) {
+      RCLCPP_DEBUG(logger_, "ParameterListener: Not using node logger, recommend using other constructors to use a node logger");
+    }
+
+    ParamListener(const std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface>& parameters_interface,
+                  rclcpp::Logger logger, std::string const& prefix = "")
+    : prefix_{prefix},
+      logger_{std::move(logger)} {
+      if (!prefix_.empty() && prefix_.back() != '.') {
+        prefix_ += ".";
+      }
+
+      parameters_interface_ = parameters_interface;
+      declare_params();
+      auto update_param_cb = [this](const std::vector<rclcpp::Parameter> &parameters){return this->update(parameters);};
+      handle_ = parameters_interface_->add_on_set_parameters_callback(update_param_cb);
+      clock_ = rclcpp::Clock();
+    }
+
+    Params get_params() const{
+      std::lock_guard<std::mutex> lock(mutex_);
+      return params_;
+    }
+
+    /**
+     * @brief Tries to update the parsed Params object
+     * @param params_in The Params object to update
+     * @return true if the Params object was updated, false if it was already up to date or the mutex could not be locked
+     * @note This function tries to lock the mutex without blocking, so it can be used in a RT loop
+     */
+    bool try_update_params(Params & params_in) const {
+      std::unique_lock<std::mutex> lock(mutex_, std::try_to_lock);
+      if (lock.owns_lock()) {
+        if (const bool is_old = params_in.__stamp != params_.__stamp; is_old) {
+          params_in = params_;
+          return true;
+        }
+      }
+      return false;
+    }
+
+    /**
+     * @brief Tries to get the current Params object
+     * @param params_in The Params object to fill with the current parameters
+     * @return true if mutex can be locked, false if mutex could not be locked
+     * @note The parameters are only filled, when the mutex can be locked and the params timestamp is different
+     * @note This function tries to lock the mutex without blocking, so it can be used in a RT loop
+     */
+    bool try_get_params(Params & params_in) const {
+      if (mutex_.try_lock()) {
+        if (const bool is_old = params_in.__stamp != params_.__stamp; is_old) {
+          params_in = params_;
+        }
+        mutex_.unlock();
+        return true;
+      }
+      return false;
+    }
+
+    bool is_old(Params const& other) const {
+      std::lock_guard<std::mutex> lock(mutex_);
+      return params_.__stamp != other.__stamp;
+    }
+
+    StackParams get_stack_params() {
+      Params params = get_params();
+      StackParams output;
+
+
+      return output;
+    }
+
+    void refresh_dynamic_parameters() {
+      auto updated_params = get_params();
+      // TODO remove any destroyed dynamic parameters
+
+      // declare any new dynamic parameters
+      rclcpp::Parameter param;
+
+    }
+
+    rcl_interfaces::msg::SetParametersResult update(const std::vector<rclcpp::Parameter> &parameters) {
+      auto updated_params = get_params();
+
+      for (const auto &param: parameters) {
+        if (param.get_name() == (prefix_ + "robot_sn")) {
+            updated_params.robot_sn = param.as_string();
+            RCLCPP_DEBUG_STREAM(logger_, param.get_name() << ": " << param.get_type_name() << " = " << param.value_to_string());
+        }
+      }
+
+      updated_params.__stamp = clock_.now();
+      update_internal_params(updated_params);
+      if (user_callback_) {
+         user_callback_(updated_params);
+      }
+      return rsl::to_parameter_result_msg({});
+    }
+
+    void declare_params(){
+      auto updated_params = get_params();
+      // declare all parameters and give default values to non-required ones
+      if (!parameters_interface_->has_parameter(prefix_ + "robot_sn")) {
+          rcl_interfaces::msg::ParameterDescriptor descriptor;
+          descriptor.description = "Robot arm serial number";
+          descriptor.read_only = false;
+          auto parameter = to_parameter_value(updated_params.robot_sn);
+          parameters_interface_->declare_parameter(prefix_ + "robot_sn", parameter, descriptor);
+      }
+      // get parameters and fill struct fields
+      rclcpp::Parameter param;
+      param = parameters_interface_->get_parameter(prefix_ + "robot_sn");
+      RCLCPP_DEBUG_STREAM(logger_, param.get_name() << ": " << param.get_type_name() << " = " << param.value_to_string());
+      updated_params.robot_sn = param.as_string();
+
+
+      updated_params.__stamp = clock_.now();
+      update_internal_params(updated_params);
+    }
+
+    using userParameterUpdateCB = std::function<void(const Params&)>;
+    void setUserCallback(const userParameterUpdateCB& callback){
+      user_callback_ = callback;
+    }
+
+    void clearUserCallback(){
+      user_callback_ = {};
+    }
+
+    private:
+      void update_internal_params(Params updated_params) {
+        std::lock_guard<std::mutex> lock(mutex_);
+        params_ = std::move(updated_params);
+      }
+
+      std::string prefix_;
+      Params params_;
+      rclcpp::Clock clock_;
+      std::shared_ptr<rclcpp::node_interfaces::OnSetParametersCallbackHandle> handle_;
+      std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface_;
+      userParameterUpdateCB user_callback_;
+
+      rclcpp::Logger logger_;
+      std::mutex mutable mutex_;
+  };
+
+} // namespace flexiv_robot_states_broadcaster
@@ -0,0 +1 @@
+share/flexiv_robot_states_broadcaster/flexiv_robot_states_broadcaster.xml
@@ -0,0 +1 @@
+controller_interface;flexiv_hardware;flexiv_msgs;generate_parameter_library;geometry_msgs;hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;realtime_tools
@@ -0,0 +1 @@
+/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
@@ -0,0 +1 @@
+controller_interface:flexiv_hardware:flexiv_msgs:generate_parameter_library:geometry_msgs:hardware_interface:pluginlib:rclcpp:rclcpp_lifecycle:realtime_tools
@@ -0,0 +1,94 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "fmt;parameter_traits;rclcpp;rclcpp_lifecycle;rsl;tcb_span;tl_expected;builtin_interfaces;controller_interface;flexiv_hardware;flexiv_msgs;generate_parameter_library;geometry_msgs;hardware_interface;pluginlib;rclcpp_lifecycle;rcutils;realtime_tools")
+
+find_package(ament_cmake_libraries QUIET REQUIRED)
+
+# find_package() all dependencies
+# and append their DEFINITIONS INCLUDE_DIRS, LIBRARIES, and LINK_FLAGS
+# variables to flexiv_robot_states_broadcaster_DEFINITIONS, flexiv_robot_states_broadcaster_INCLUDE_DIRS,
+# flexiv_robot_states_broadcaster_LIBRARIES, and flexiv_robot_states_broadcaster_LINK_FLAGS.
+# Additionally collect the direct dependency names in
+# flexiv_robot_states_broadcaster_DEPENDENCIES as well as the recursive dependency names
+# in flexiv_robot_states_broadcaster_RECURSIVE_DEPENDENCIES.
+if(NOT _exported_dependencies STREQUAL "")
+  find_package(ament_cmake_core QUIET REQUIRED)
+  set(flexiv_robot_states_broadcaster_DEPENDENCIES ${_exported_dependencies})
+  set(flexiv_robot_states_broadcaster_RECURSIVE_DEPENDENCIES ${_exported_dependencies})
+  set(_libraries)
+  foreach(_dep ${_exported_dependencies})
+    if(NOT ${_dep}_FOUND)
+      find_package("${_dep}" QUIET REQUIRED)
+    endif()
+    # if a package provides modern CMake interface targets use them
+    # exclusively assuming the classic CMake variables only exist for
+    # backward compatibility
+    set(use_modern_cmake FALSE)
+    if(NOT "${${_dep}_TARGETS}" STREQUAL "")
+      foreach(_target ${${_dep}_TARGETS})
+        # only use actual targets
+        # in case a package uses this variable for other content
+        if(TARGET "${_target}")
+          get_target_property(_include_dirs ${_target} INTERFACE_INCLUDE_DIRECTORIES)
+          if(_include_dirs)
+            list_append_unique(flexiv_robot_states_broadcaster_INCLUDE_DIRS "${_include_dirs}")
+          endif()
+
+          get_target_property(_imported_configurations ${_target} IMPORTED_CONFIGURATIONS)
+          if(_imported_configurations)
+            string(TOUPPER "${_imported_configurations}" _imported_configurations)
+            if(DEBUG_CONFIGURATIONS)
+              string(TOUPPER "${DEBUG_CONFIGURATIONS}" _debug_configurations_uppercase)
+            else()
+              set(_debug_configurations_uppercase "DEBUG")
+            endif()
+            foreach(_imported_config ${_imported_configurations})
+              get_target_property(_imported_implib ${_target} IMPORTED_IMPLIB_${_imported_config})
+              if(_imported_implib)
+                set(_imported_implib_config "optimized")
+                if(${_imported_config} IN_LIST _debug_configurations_uppercase)
+                  set(_imported_implib_config "debug")
+                endif()
+                list(APPEND _libraries ${_imported_implib_config} ${_imported_implib})
+              else()
+                get_target_property(_imported_location ${_target} IMPORTED_LOCATION_${_imported_config})
+                if(_imported_location)
+                  list(APPEND _libraries "${_imported_location}")
+                endif()
+              endif()
+            endforeach()
+          endif()
+
+          get_target_property(_link_libraries ${_target} INTERFACE_LINK_LIBRARIES)
+          if(_link_libraries)
+            list(APPEND _libraries "${_link_libraries}")
+          endif()
+          set(use_modern_cmake TRUE)
+        endif()
+      endforeach()
+    endif()
+    if(NOT use_modern_cmake)
+      if(${_dep}_DEFINITIONS)
+        list_append_unique(flexiv_robot_states_broadcaster_DEFINITIONS "${${_dep}_DEFINITIONS}")
+      endif()
+      if(${_dep}_INCLUDE_DIRS)
+        list_append_unique(flexiv_robot_states_broadcaster_INCLUDE_DIRS "${${_dep}_INCLUDE_DIRS}")
+      endif()
+      if(${_dep}_LIBRARIES)
+        list(APPEND _libraries "${${_dep}_LIBRARIES}")
+      endif()
+      if(${_dep}_LINK_FLAGS)
+        list_append_unique(flexiv_robot_states_broadcaster_LINK_FLAGS "${${_dep}_LINK_FLAGS}")
+      endif()
+      if(${_dep}_RECURSIVE_DEPENDENCIES)
+        list_append_unique(flexiv_robot_states_broadcaster_RECURSIVE_DEPENDENCIES "${${_dep}_RECURSIVE_DEPENDENCIES}")
+      endif()
+    endif()
+    if(_libraries)
+      ament_libraries_deduplicate(_libraries "${_libraries}")
+      list(APPEND _libraries ${flexiv_robot_states_broadcaster_LIBRARIES})
+      list(REMOVE_DUPLICATES _libraries)
+      set(flexiv_robot_states_broadcaster_LIBRARIES ${_libraries})
+    endif()
+  endforeach()
+endif()
@@ -0,0 +1,27 @@
+# generated from ament_cmake_export_targets/cmake/ament_cmake_export_targets-extras.cmake.in
+
+set(_exported_targets "export_flexiv_robot_states_broadcaster")
+
+# include all exported targets
+if(NOT _exported_targets STREQUAL "")
+  foreach(_target ${_exported_targets})
+    set(_export_file "${flexiv_robot_states_broadcaster_DIR}/${_target}Export.cmake")
+    include("${_export_file}")
+
+    # extract the target names associated with the export
+    set(_regex "foreach\\((_cmake)?_expected_?[Tt]arget (IN ITEMS )?(.+)\\)")
+    file(
+      STRINGS "${_export_file}" _foreach_targets
+      REGEX "${_regex}")
+    list(LENGTH _foreach_targets _matches)
+    if(NOT _matches EQUAL 1)
+      message(FATAL_ERROR
+        "Failed to find exported target names in '${_export_file}'")
+    endif()
+    string(REGEX REPLACE "${_regex}" "\\3" _targets "${_foreach_targets}")
+    string(REPLACE " " ";" _targets "${_targets}")
+    list(LENGTH _targets _length)
+
+    list(APPEND flexiv_robot_states_broadcaster_TARGETS ${_targets})
+  endforeach()
+endif()
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "flexiv_robot_states_broadcaster::flexiv_robot_states_broadcaster" for configuration ""
+set_property(TARGET flexiv_robot_states_broadcaster::flexiv_robot_states_broadcaster APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(flexiv_robot_states_broadcaster::flexiv_robot_states_broadcaster PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/libflexiv_robot_states_broadcaster.so"
+  IMPORTED_SONAME_NOCONFIG "libflexiv_robot_states_broadcaster.so"
+  )
+
+list(APPEND _cmake_import_check_targets flexiv_robot_states_broadcaster::flexiv_robot_states_broadcaster )
+list(APPEND _cmake_import_check_files_for_flexiv_robot_states_broadcaster::flexiv_robot_states_broadcaster "${_IMPORT_PREFIX}/lib/libflexiv_robot_states_broadcaster.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "1.9.1")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_flexiv_robot_states_broadcaster_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED flexiv_robot_states_broadcaster_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(flexiv_robot_states_broadcaster_FOUND FALSE)
+  elseif(NOT flexiv_robot_states_broadcaster_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(flexiv_robot_states_broadcaster_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_flexiv_robot_states_broadcaster_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT flexiv_robot_states_broadcaster_FIND_QUIETLY)
+  message(STATUS "Found flexiv_robot_states_broadcaster: 1.9.1 (${flexiv_robot_states_broadcaster_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'flexiv_robot_states_broadcaster' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${flexiv_robot_states_broadcaster_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(flexiv_robot_states_broadcaster_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "ament_cmake_export_dependencies-extras.cmake;ament_cmake_export_targets-extras.cmake")
+foreach(_extra ${_extras})
+  include("${flexiv_robot_states_broadcaster_DIR}/${_extra}")
+endforeach()
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
@@ -0,0 +1,8 @@
+<library path="flexiv_robot_states_broadcaster">
+    <class name="flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster"
+           type="flexiv_robot_states_broadcaster::FlexivRobotStatesBroadcaster" base_class_type="controller_interface::ControllerInterface">
+        <description>
+            The robot states broadcaster publishes the Flexiv robot states.
+        </description>
+    </class>
+</library>
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX/lib"
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"
@@ -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/flexiv_robot_states_broadcaster/environment/ament_prefix_path.sh
+source;share/flexiv_robot_states_broadcaster/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
+: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install/flexiv_robot_states_broadcaster"}
+if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/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/flexiv_robot_states_broadcaster/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/flexiv_robot_states_broadcaster/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
@@ -0,0 +1,11 @@
+source;share/flexiv_robot_states_broadcaster/hook/cmake_prefix_path.ps1
+source;share/flexiv_robot_states_broadcaster/hook/cmake_prefix_path.dsv
+source;share/flexiv_robot_states_broadcaster/hook/cmake_prefix_path.sh
+source;share/flexiv_robot_states_broadcaster/hook/ld_library_path_lib.ps1
+source;share/flexiv_robot_states_broadcaster/hook/ld_library_path_lib.dsv
+source;share/flexiv_robot_states_broadcaster/hook/ld_library_path_lib.sh
+source;share/flexiv_robot_states_broadcaster/local_setup.bash
+source;share/flexiv_robot_states_broadcaster/local_setup.dsv
+source;share/flexiv_robot_states_broadcaster/local_setup.ps1
+source;share/flexiv_robot_states_broadcaster/local_setup.sh
+source;share/flexiv_robot_states_broadcaster/local_setup.zsh
@@ -0,0 +1,117 @@
+# 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/flexiv_robot_states_broadcaster/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/hook/ld_library_path_lib.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
@@ -0,0 +1,88 @@
+# 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/flexiv_robot_states_broadcaster"
+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/flexiv_robot_states_broadcaster/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/hook/ld_library_path_lib.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/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 +1,27 @@
+<?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>flexiv_robot_states_broadcaster</name>
+  <version>1.9.1</version>
+  <description>The robot states broadcaster publishes the Flexiv robot states.</description>
+  <maintainer email="munseng.phoon@flexiv.com">Mun Seng Phoon</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="munseng.phoon@flexiv.com">Mun Seng Phoon</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>controller_interface</depend>
+  <depend>flexiv_hardware</depend>
+  <depend>flexiv_msgs</depend>
+  <depend>generate_parameter_library</depend>
+  <depend>geometry_msgs</depend>
+  <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>realtime_tools</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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_robot_states_broadcaster/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
				`@@ -0,0 +1 @@`
				`share/flexiv_robot_states_broadcaster/flexiv_robot_states_broadcaster.xml`
				`@@ -0,0 +1 @@`
				`controller_interface;flexiv_hardware;flexiv_msgs;generate_parameter_library;geometry_msgs;hardware_interface;pluginlib;rclcpp;rclcpp_lifecycle;realtime_tools`
				`@@ -0,0 +1 @@`
				/home/cc/ros2/install/flexiv_bringup:/home/cc/ros2/install/flexiv_test_nodes:/home/cc/ros2/install/flexiv_robot_states_broadcaster:/home/cc/ros2/install/flexiv_gripper:/home/cc/ros2/install/flexiv_msgs:/home/cc/ros2/install/flexiv_moveit_config:/home/cc/ros2/install/flexiv_hardware:/home/cc/ros2/install/arm_bringup:/home/cc/ros2/install/arm_moveit_config:/home/cc/ros2/install/arm_description:/home/cc/ros2/install/flexiv_description:/home/cc/ros2/install/arm_driver_flexiv:/home/cc/ros2/install/arm_control:/home/cc/ros2/install/arm_application:/home/cc/ros2/install/arm_msgs:/home/cc/ros2/install/arm_kinematics:/home/cc/ros2/install/arm_interfaces:/home/cc/anaconda3/envs/ros_flexiv
				`@@ -0,0 +1 @@`
				`controller_interface:flexiv_hardware:flexiv_msgs:generate_parameter_library:geometry_msgs:hardware_interface:pluginlib:rclcpp:rclcpp_lifecycle:realtime_tools`