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
@@ -0,0 +1 @@
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rclpy:std_msgs
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@@ -0,0 +1 @@
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prepend-non-duplicate;AMENT_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 AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
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@@ -0,0 +1,3 @@
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
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_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
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@@ -0,0 +1 @@
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prepend-non-duplicate;PYTHONPATH;lib/python3.11/site-packages
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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 PYTHONPATH "$env:COLCON_CURRENT_PREFIX/lib/python3.11/site-packages"
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@@ -0,0 +1,3 @@
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# generated from colcon_core/shell/template/hook_prepend_value.sh.em
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_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.11/site-packages"
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+76
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"""Launch file for Robot States Publisher Node.
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Example usage:
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# Auto-detect network interface:
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ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \
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robot_sn:=Rizon4s-123456
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# With specific network interface:
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ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \
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robot_sn:=Rizon4s-123456 \
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network_interface:=eth0
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# Custom publish rate:
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ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \
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robot_sn:=Rizon4s-123456 \
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publish_rate:=200
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Author: Flexiv Robotics
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License: Apache-2.0
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"""
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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"""Generate launch description for Robot States Publisher."""
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# Declare launch arguments
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robot_sn_arg = DeclareLaunchArgument(
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"robot_sn", description="Robot serial number (e.g., Rizon4s-123456)"
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)
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network_interface_arg = DeclareLaunchArgument(
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"network_interface",
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default_value="",
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description="Network interface name (e.g., eth0, enp0s31f6). Leave empty to auto-detect.",
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)
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publish_rate_arg = DeclareLaunchArgument(
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"publish_rate",
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default_value="100",
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description="Publishing rate in Hz (default: 100)",
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)
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# Create the Robot States Publisher node
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robot_states_publisher_node = Node(
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package="flexiv_test_nodes",
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executable="robot_states_publisher",
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name="robot_states_publisher",
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output="screen",
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parameters=[
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{
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"robot_sn": LaunchConfiguration("robot_sn"),
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"network_interface": LaunchConfiguration("network_interface"),
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"publish_rate": LaunchConfiguration("publish_rate"),
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}
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],
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arguments=[
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"--robot-sn",
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LaunchConfiguration("robot_sn"),
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"--network-interface",
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LaunchConfiguration("network_interface"),
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],
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)
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return LaunchDescription(
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[
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robot_sn_arg,
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network_interface_arg,
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publish_rate_arg,
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robot_states_publisher_node,
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]
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)
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@@ -0,0 +1,31 @@
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# generated from colcon_bash/shell/template/package.bash.em
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# This script extends the environment for this package.
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# a bash script is able to determine its own path if necessary
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if [ -z "$COLCON_CURRENT_PREFIX" ]; then
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# the prefix is two levels up from the package specific share directory
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_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
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else
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_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
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fi
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# function to source another script with conditional trace output
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# first argument: the path of the script
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# additional arguments: arguments to the script
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_colcon_package_bash_source_script() {
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if [ -f "$1" ]; then
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if [ -n "$COLCON_TRACE" ]; then
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echo "# . \"$1\""
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fi
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. "$@"
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else
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echo "not found: \"$1\"" 1>&2
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fi
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}
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# source sh script of this package
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_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/package.sh"
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unset _colcon_package_bash_source_script
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unset _colcon_package_bash_COLCON_CURRENT_PREFIX
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@@ -0,0 +1,6 @@
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source;share/flexiv_test_nodes/hook/pythonpath.ps1
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source;share/flexiv_test_nodes/hook/pythonpath.dsv
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source;share/flexiv_test_nodes/hook/pythonpath.sh
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source;share/flexiv_test_nodes/hook/ament_prefix_path.ps1
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source;share/flexiv_test_nodes/hook/ament_prefix_path.dsv
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source;share/flexiv_test_nodes/hook/ament_prefix_path.sh
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@@ -0,0 +1,117 @@
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# generated from colcon_powershell/shell/template/package.ps1.em
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# function to append a value to a variable
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# which uses colons as separators
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# duplicates as well as leading separators are avoided
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# first argument: the name of the result variable
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# second argument: the value to be prepended
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function colcon_append_unique_value {
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param (
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$_listname,
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$_value
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)
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# get values from variable
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if (Test-Path Env:$_listname) {
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$_values=(Get-Item env:$_listname).Value
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} else {
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$_values=""
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}
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$_duplicate=""
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# start with no values
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$_all_values=""
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# iterate over existing values in the variable
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if ($_values) {
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$_values.Split(":") | ForEach {
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# not an empty string
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if ($_) {
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# not a duplicate of _value
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if ($_ -eq $_value) {
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$_duplicate="1"
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}
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if ($_all_values) {
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$_all_values="${_all_values}:$_"
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} else {
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$_all_values="$_"
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}
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}
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}
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}
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# append only non-duplicates
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if (!$_duplicate) {
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# avoid leading separator
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if ($_all_values) {
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$_all_values="${_all_values}:${_value}"
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} else {
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$_all_values="${_value}"
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}
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}
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# export the updated variable
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Set-Item env:\$_listname -Value "$_all_values"
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}
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# function to prepend a value to a variable
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# which uses colons as separators
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# duplicates as well as trailing separators are avoided
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# first argument: the name of the result variable
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# second argument: the value to be prepended
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function colcon_prepend_unique_value {
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param (
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$_listname,
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$_value
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)
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# get values from variable
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if (Test-Path Env:$_listname) {
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$_values=(Get-Item env:$_listname).Value
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} else {
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$_values=""
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}
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# start with the new value
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$_all_values="$_value"
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# iterate over existing values in the variable
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if ($_values) {
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$_values.Split(":") | ForEach {
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# not an empty string
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if ($_) {
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# not a duplicate of _value
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if ($_ -ne $_value) {
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# keep non-duplicate values
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$_all_values="${_all_values}:$_"
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}
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}
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}
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}
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# export the updated variable
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Set-Item env:\$_listname -Value "$_all_values"
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}
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# function to source another script with conditional trace output
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# first argument: the path of the script
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# additional arguments: arguments to the script
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function colcon_package_source_powershell_script {
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param (
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$_colcon_package_source_powershell_script
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)
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# source script with conditional trace output
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if (Test-Path $_colcon_package_source_powershell_script) {
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if ($env:COLCON_TRACE) {
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echo ". '$_colcon_package_source_powershell_script'"
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}
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. "$_colcon_package_source_powershell_script"
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} else {
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Write-Error "not found: '$_colcon_package_source_powershell_script'"
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}
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}
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# a powershell script is able to determine its own path
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# the prefix is two levels up from the package specific share directory
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$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
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colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/pythonpath.ps1"
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colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/ament_prefix_path.ps1"
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colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/../../build/flexiv_test_nodes/share/flexiv_test_nodes/hook/pythonpath_develop.ps1"
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Remove-Item Env:\COLCON_CURRENT_PREFIX
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@@ -0,0 +1,87 @@
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# generated from colcon_core/shell/template/package.sh.em
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# This script extends the environment for this package.
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# function to prepend a value to a variable
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# which uses colons as separators
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# duplicates as well as trailing separators are avoided
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# first argument: the name of the result variable
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# second argument: the value to be prepended
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_colcon_prepend_unique_value() {
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# arguments
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_listname="$1"
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_value="$2"
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# get values from variable
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eval _values=\"\$$_listname\"
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# backup the field separator
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_colcon_prepend_unique_value_IFS=$IFS
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IFS=":"
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# start with the new value
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_all_values="$_value"
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# workaround SH_WORD_SPLIT not being set in zsh
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if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
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colcon_zsh_convert_to_array _values
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fi
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# iterate over existing values in the variable
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for _item in $_values; do
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# ignore empty strings
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if [ -z "$_item" ]; then
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continue
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fi
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# ignore duplicates of _value
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if [ "$_item" = "$_value" ]; then
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continue
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fi
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# keep non-duplicate values
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_all_values="$_all_values:$_item"
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done
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unset _item
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# restore the field separator
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IFS=$_colcon_prepend_unique_value_IFS
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unset _colcon_prepend_unique_value_IFS
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# export the updated variable
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eval export $_listname=\"$_all_values\"
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unset _all_values
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unset _values
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unset _value
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unset _listname
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}
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# since a plain shell script can't determine its own path when being sourced
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# either use the provided COLCON_CURRENT_PREFIX
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# or fall back to the build time prefix (if it exists)
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_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/cc/ros2/install/flexiv_test_nodes"
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if [ -z "$COLCON_CURRENT_PREFIX" ]; then
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if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
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echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
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unset _colcon_package_sh_COLCON_CURRENT_PREFIX
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return 1
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fi
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COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
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fi
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unset _colcon_package_sh_COLCON_CURRENT_PREFIX
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# function to source another script with conditional trace output
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# first argument: the path of the script
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# additional arguments: arguments to the script
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_colcon_package_sh_source_script() {
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if [ -f "$1" ]; then
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if [ -n "$COLCON_TRACE" ]; then
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echo "# . \"$1\""
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fi
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. "$@"
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else
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echo "not found: \"$1\"" 1>&2
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fi
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}
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# source sh hooks
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_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/pythonpath.sh"
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_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/ament_prefix_path.sh"
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unset _colcon_package_sh_source_script
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unset COLCON_CURRENT_PREFIX
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# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
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@@ -0,0 +1,18 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>flexiv_test_nodes</name>
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<version>1.9.1</version>
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<description>Demo nodes for testing flexiv_ros2</description>
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<maintainer email="munseng.phoon@flexiv.com">Mun Seng Phoon</maintainer>
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<license>Apache-2.0</license>
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<author email="munseng.phoon@flexiv.com">Mun Seng Phoon</author>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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@@ -0,0 +1,42 @@
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# 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
|
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# 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)"
|
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else
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_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_test_nodes/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
Reference in New Issue
Block a user