完成机械臂仿真

simulation_ws/robotic_arm/build/robotic_arm/colcon_command_prefix_build.sh.env

@@ -1,13 +1,12 @@
-AMENT_PREFIX_PATH=/opt/ros/humble
+AMENT_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm:/opt/ros/humble
 BROWSER=/home/quella/.vscode-server/cli/servers/Stable-072586267e68ece9a47aa43f8c108e0dcbf44622/server/bin/helpers/browser.sh
+CMAKE_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm
 COLCON=1
+COLCON_PREFIX_PATH=/home/quella/ROS2_WS/simulation_ws/robotic_arm/install
 COLORTERM=truecolor
-CONDA_DEFAULT_ENV=base
 CONDA_EXE=/home/quella/miniconda3/bin/conda
-CONDA_PREFIX=/home/quella/miniconda3
-CONDA_PROMPT_MODIFIER=(base)
 CONDA_PYTHON_EXE=/home/quella/miniconda3/bin/python
-CONDA_SHLVL=1
+CONDA_SHLVL=0
 DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
 GIT_ASKPASS=/home/quella/.vscode-server/cli/servers/Stable-072586267e68ece9a47aa43f8c108e0dcbf44622/server/extensions/git/dist/askpass.sh
 HOME=/home/quella
@@ -30,7 +29,7 @@ LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd
 MOTD_SHOWN=pam
 OLDPWD=/home/quella/ROS2_WS/simulation_ws
 PAPERSIZE=a4
-PATH=/home/quella/miniconda3/bin:/home/quella/.vscode-server/data/User/globalStorage/github.copilot-chat/debugCommand:/home/quella/.vscode-server/data/User/globalStorage/github.copilot-chat/copilotCli:/home/quella/.vscode-server/cli/servers/Stable-072586267e68ece9a47aa43f8c108e0dcbf44622/server/bin/remote-cli:/home/quella/miniconda3/condabin:/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PATH=/home/quella/.vscode-server/data/User/globalStorage/github.copilot-chat/debugCommand:/home/quella/.vscode-server/data/User/globalStorage/github.copilot-chat/copilotCli:/home/quella/.vscode-server/cli/servers/Stable-072586267e68ece9a47aa43f8c108e0dcbf44622/server/bin/remote-cli:/home/quella/miniconda3/condabin:/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
 PWD=/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm
 PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 PYTHONSTARTUP=/home/quella/.vscode-server/data/User/workspaceStorage/fb064e484f24c3e3a601ac18f2be7228/ms-python.python/pythonrc.py
@@ -53,7 +52,7 @@ VSCODE_GIT_ASKPASS_EXTRA_ARGS=
 VSCODE_GIT_ASKPASS_MAIN=/home/quella/.vscode-server/cli/servers/Stable-072586267e68ece9a47aa43f8c108e0dcbf44622/server/extensions/git/dist/askpass-main.js
 VSCODE_GIT_ASKPASS_NODE=/home/quella/.vscode-server/cli/servers/Stable-072586267e68ece9a47aa43f8c108e0dcbf44622/server/node
 VSCODE_GIT_IPC_HANDLE=/run/user/1000/vscode-git-72f20bdc6f.sock
-VSCODE_IPC_HOOK_CLI=/run/user/1000/vscode-ipc-05ca2cb3-facc-48be-895e-3aa1a0755878.sock
+VSCODE_IPC_HOOK_CLI=/run/user/1000/vscode-ipc-bb75fc67-ef14-4a70-b7b5-6c77d837b9d1.sock
 VSCODE_PYTHON_AUTOACTIVATE_GUARD=1
 XDG_DATA_DIRS=/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop
 XDG_RUNTIME_DIR=/run/user/1000

simulation_ws/robotic_arm/config/controllers.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50
+    update_rate: 100
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster

simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config/controllers.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50
+    update_rate: 100
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster

simulation_ws/robotic_arm/log/build_2026-02-24_22-56-23/logger_all.log

@@ -0,0 +1,102 @@
+[0.100s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.100s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=16, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7dad460d3a90>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7dad46278d90>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7dad46278d90>>)
+[0.254s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.254s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.254s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.254s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.254s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.254s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.254s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/quella/ROS2_WS/simulation_ws/robotic_arm'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.254s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.255s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.269s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'ros.ament_cmake' and name 'robotic_arm'
+[0.269s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.269s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.269s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.269s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.269s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.288s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.288s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.290s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/quella/ROS2_WS/simulation_ws/robotic_arm/install
+[0.292s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 325 installed packages in /opt/ros/humble
+[0.306s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'cmake_args' from command line to 'None'
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'cmake_target' from command line to 'None'
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'cmake_clean_cache' from command line to 'False'
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'cmake_clean_first' from command line to 'False'
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'cmake_force_configure' from command line to 'False'
+[0.345s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'ament_cmake_args' from command line to 'None'
+[0.346s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'catkin_cmake_args' from command line to 'None'
+[0.346s] Level 5:colcon.colcon_core.verb:set package 'robotic_arm' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.346s] DEBUG:colcon.colcon_core.verb:Building package 'robotic_arm' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm', 'merge_install': False, 'path': '/home/quella/ROS2_WS/simulation_ws/robotic_arm', 'symlink_install': False, 'test_result_base': None}
+[0.346s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.347s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.347s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/quella/ROS2_WS/simulation_ws/robotic_arm' with build type 'ament_cmake'
+[0.347s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/quella/ROS2_WS/simulation_ws/robotic_arm'
+[0.350s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.350s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.350s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.364s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm -- -j16 -l16
+[0.412s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm -- -j16 -l16
+[0.425s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm
+[0.438s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robotic_arm)
+[0.439s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm
+[0.441s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm' for CMake module files
+[0.441s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm' for CMake config files
+[0.442s] Level 1:colcon.colcon_core.shell:create_environment_hook('robotic_arm', 'cmake_prefix_path')
+[0.442s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.ps1'
+[0.443s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.dsv'
+[0.443s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.sh'
+[0.444s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/bin'
+[0.444s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/lib/pkgconfig/robotic_arm.pc'
+[0.445s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/lib/python3.10/site-packages'
+[0.445s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/bin'
+[0.445s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.ps1'
+[0.446s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.dsv'
+[0.447s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.sh'
+[0.448s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.bash'
+[0.448s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.zsh'
+[0.449s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/colcon-core/packages/robotic_arm)
+[0.450s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(robotic_arm)
+[0.451s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm' for CMake module files
+[0.451s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm' for CMake config files
+[0.451s] Level 1:colcon.colcon_core.shell:create_environment_hook('robotic_arm', 'cmake_prefix_path')
+[0.452s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.ps1'
+[0.452s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.dsv'
+[0.453s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/hook/cmake_prefix_path.sh'
+[0.453s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/bin'
+[0.454s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/lib/pkgconfig/robotic_arm.pc'
+[0.454s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/lib/python3.10/site-packages'
+[0.454s] Level 1:colcon.colcon_core.environment:checking '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/bin'
+[0.455s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.ps1'
+[0.455s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.dsv'
+[0.456s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.sh'
+[0.456s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.bash'
+[0.457s] INFO:colcon.colcon_core.shell:Creating package script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.zsh'
+[0.457s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/colcon-core/packages/robotic_arm)
+[0.458s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.458s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.459s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.459s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.465s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.466s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.466s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.476s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.477s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/local_setup.ps1'
+[0.478s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/_local_setup_util_ps1.py'
+[0.479s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/setup.ps1'
+[0.481s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/local_setup.sh'
+[0.482s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/_local_setup_util_sh.py'
+[0.482s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/setup.sh'
+[0.484s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/local_setup.bash'
+[0.484s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/setup.bash'
+[0.486s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/local_setup.zsh'
+[0.486s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/setup.zsh'

simulation_ws/robotic_arm/log/build_2026-02-24_22-56-23/robotic_arm/command.log

@@ -0,0 +1,4 @@
+Invoking command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm -- -j16 -l16
+Invoked command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm -- -j16 -l16
+Invoking command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm
+Invoked command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm

simulation_ws/robotic_arm/log/build_2026-02-24_22-56-23/robotic_arm/stdout.log

@@ -0,0 +1,26 @@
+-- Install configuration: ""
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf/materials.xacro
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf/robotic_arm.urdf.xacro
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch/display.launch.py
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch/gazebo.launch.py
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/rviz
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/rviz/display.rviz
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config
+-- Installing: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config/controllers.yaml
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/package_run_dependencies/robotic_arm
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/parent_prefix_path/robotic_arm
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.sh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/path.sh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/path.dsv
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.bash
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.sh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.zsh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.dsv
+-- Installing: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.dsv
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/packages/robotic_arm
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig.cmake
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig-version.cmake
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.xml

simulation_ws/robotic_arm/log/build_2026-02-24_22-56-23/robotic_arm/stdout_stderr.log

@@ -0,0 +1,26 @@
+-- Install configuration: ""
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf/materials.xacro
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf/robotic_arm.urdf.xacro
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch/display.launch.py
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch/gazebo.launch.py
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/rviz
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/rviz/display.rviz
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config
+-- Installing: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config/controllers.yaml
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/package_run_dependencies/robotic_arm
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/parent_prefix_path/robotic_arm
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.sh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.dsv
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/path.sh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/path.dsv
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.bash
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.sh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.zsh
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.dsv
+-- Installing: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.dsv
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/packages/robotic_arm
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig.cmake
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig-version.cmake
+-- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.xml

simulation_ws/robotic_arm/log/build_2026-02-24_22-56-23/robotic_arm/streams.log

@@ -0,0 +1,30 @@
+[0.015s] Invoking command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm -- -j16 -l16
+[0.064s] Invoked command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm -- -j16 -l16
+[0.076s] Invoking command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm
+[0.086s] -- Install configuration: ""
+[0.086s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf
+[0.087s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf/materials.xacro
+[0.087s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/urdf/robotic_arm.urdf.xacro
+[0.087s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch
+[0.087s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch/display.launch.py
+[0.087s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/launch/gazebo.launch.py
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/rviz
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/rviz/display.rviz
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config
+[0.088s] -- Installing: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/config/controllers.yaml
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/package_run_dependencies/robotic_arm
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/parent_prefix_path/robotic_arm
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.sh
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/ament_prefix_path.dsv
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/path.sh
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/environment/path.dsv
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.bash
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.sh
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.zsh
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/local_setup.dsv
+[0.088s] -- Installing: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.dsv
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/ament_index/resource_index/packages/robotic_arm
+[0.088s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig.cmake
+[0.089s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/cmake/robotic_armConfig-version.cmake
+[0.089s] -- Up-to-date: /home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm/share/robotic_arm/package.xml
+[0.090s] Invoked command in '/home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/quella/ROS2_WS/simulation_ws/robotic_arm/build/robotic_arm

simulation_ws/robotic_arm/log/latest_build

@@ -1 +1 @@
-build_2026-02-24_22-52-29
+build_2026-02-24_22-56-23

simulation_ws/robotic_arm/urdf/robotic_arm.urdf.xacro

@@ -1,15 +1,12 @@
 <?xml version="1.0"?>
 <robot name="robotic_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
     <xacro:include filename="$(find robotic_arm)/urdf/materials.xacro" />
-
- 
     <link name="world" />
     <joint name="world_to_base" type="fixed">
         <parent link="world" />
         <child link="base_link" />
         <origin xyz="0 0 0" rpy="0 0 0" />
     </joint>
-
     <link name="base_link">
         <visual>
             <geometry>
@@ -30,7 +27,6 @@
             <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
         </inertial>
     </link>
-
     <joint name="joint1" type="revolute">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <parent link="base_link" />
@@ -40,7 +36,6 @@
      
         <dynamics damping="0.1" friction="0.1" />
     </joint>
-
     <link name="link1">
         <visual>
             <geometry>
@@ -61,8 +56,6 @@
             <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.003" />
         </inertial>
     </link>
-
-
     <joint name="joint2" type="revolute">
         <parent link="link1" />
         <child link="link2" />
@@ -72,8 +65,6 @@
         
         <dynamics damping="0.1" friction="0.1" />
     </joint>
-
-    
     <link name="link2">
         <visual>
             <geometry>
@@ -94,8 +85,6 @@
             <inertia ixx="0.003" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.002" />
         </inertial>
     </link>
-
-   
     <joint name="joint3" type="revolute">
         <parent link="link2" />
         <child link="link3" />
@@ -104,8 +93,6 @@
         <limit lower="-1.5708" upper="1.5708" effort="80" velocity="1.0" />
         <dynamics damping="0.1" friction="0.1" />
     </joint>
-
-   
     <link name="link3">
         <visual>
             <geometry>
@@ -126,8 +113,6 @@
             <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001" />
         </inertial>
     </link>
-
-    
     <joint name="joint4" type="revolute">
         <parent link="link3" />
         <child link="link4" />
@@ -136,8 +121,6 @@
         <limit lower="-3.14159" upper="3.14159" effort="50" velocity="1.5" />
         <dynamics damping="0.05" friction="0.05" />
     </joint>
-
-    
     <link name="link4">
         <visual>
             <geometry>
@@ -158,8 +141,6 @@
             <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
         </inertial>
     </link>
-
-    
     <joint name="joint5" type="revolute">
         <parent link="link4" />
         <child link="link5" />
@@ -168,8 +149,6 @@
         <limit lower="-1.5708" upper="1.5708" effort="30" velocity="1.5" />
         <dynamics damping="0.05" friction="0.05" />
     </joint>
-
-    
     <link name="link5">
         <visual>
             <geometry>
@@ -190,7 +169,6 @@
             <inertia ixx="0.0005" ixy="0" ixz="0" iyy="0.0005" iyz="0" izz="0.0003" />
         </inertial>
     </link>
-
     <joint name="joint6" type="revolute">
         <parent link="link5" />
         <child link="link6" />
@@ -199,8 +177,6 @@
         <limit lower="-3.14159" upper="3.14159" effort="20" velocity="2.0" />
         <dynamics damping="0.05" friction="0.05" />
     </joint>
-
-    
     <link name="link6">
         <visual>
             <geometry>
@@ -221,25 +197,17 @@
             <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
         </inertial>
     </link>
-
-    
     <joint name="end_effector_fixed" type="fixed">
         <parent link="link6" />
         <child link="end_effector" />
         <origin xyz="0 0 0.06" rpy="0 0 0" />
     </joint>
-
     <link name="end_effector" />
-
-
-    
     <gazebo>
         <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
             <parameters>$(find robotic_arm)/config/controllers.yaml</parameters>
         </plugin>
     </gazebo>
-
-   
     <gazebo reference="base_link">
         <material>Gazebo/Grey</material>
     </gazebo>