机械臂仿真与运动路径规划完成
This commit is contained in:
25
simulation_ws/install/MoveIt2/share/MoveIt2/.setup_assistant
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25
simulation_ws/install/MoveIt2/share/MoveIt2/.setup_assistant
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@@ -0,0 +1,25 @@
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moveit_setup_assistant_config:
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urdf:
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package: robotic_arm
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relative_path: urdf/robotic_arm.urdf.xacro
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srdf:
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relative_path: config/robotic_arm.srdf
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package_settings:
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author_name: Quella
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author_email: 2892744389@qq.com
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generated_timestamp: 1772023890
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control_xacro:
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command:
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- position
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state:
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- position
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- velocity
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modified_urdf:
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xacros:
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- control_xacro
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control_xacro:
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command:
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- position
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state:
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- position
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- velocity
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@@ -0,0 +1,14 @@
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
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set(PACKAGE_VERSION "0.3.0")
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set(PACKAGE_VERSION_EXACT False)
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set(PACKAGE_VERSION_COMPATIBLE False)
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if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_EXACT True)
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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@@ -0,0 +1,42 @@
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
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# prevent multiple inclusion
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if(_MoveIt2_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED MoveIt2_FOUND)
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# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(MoveIt2_FOUND FALSE)
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elseif(NOT MoveIt2_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(MoveIt2_FOUND FALSE)
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endif()
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return()
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endif()
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set(_MoveIt2_CONFIG_INCLUDED TRUE)
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# output package information
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if(NOT MoveIt2_FIND_QUIETLY)
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message(STATUS "Found MoveIt2: 0.3.0 (${MoveIt2_DIR})")
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endif()
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# warn when using a deprecated package
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if(NOT "" STREQUAL "")
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set(_msg "Package 'MoveIt2' is deprecated")
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# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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# optionally quiet the deprecation message
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if(NOT ${MoveIt2_DEPRECATED_QUIET})
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message(DEPRECATION "${_msg}")
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endif()
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endif()
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# flag package as ament-based to distinguish it after being find_package()-ed
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set(MoveIt2_FOUND_AMENT_PACKAGE TRUE)
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# include all config extra files
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set(_extras "")
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foreach(_extra ${_extras})
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include("${MoveIt2_DIR}/${_extra}")
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endforeach()
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@@ -0,0 +1,9 @@
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# Default initial positions for robotic_arm's ros2_control fake system
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initial_positions:
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joint1: 0
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joint2: 0
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joint3: 0
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joint4: 0
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joint5: 0
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joint6: 0
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@@ -0,0 +1,40 @@
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# For beginners, we downscale velocity and acceleration limits.
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# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
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default_velocity_scaling_factor: 0.1
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default_acceleration_scaling_factor: 0.1
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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joint1:
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has_velocity_limits: true
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max_velocity: 1.0
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has_acceleration_limits: false
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max_acceleration: 0.0
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joint2:
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has_velocity_limits: true
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max_velocity: 1.0
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has_acceleration_limits: false
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max_acceleration: 0.0
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joint3:
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has_velocity_limits: true
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max_velocity: 1.0
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has_acceleration_limits: false
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max_acceleration: 0.0
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joint4:
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has_velocity_limits: true
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max_velocity: 1.5
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has_acceleration_limits: false
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max_acceleration: 0.0
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joint5:
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has_velocity_limits: true
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max_velocity: 1.5
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has_acceleration_limits: false
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max_acceleration: 0.0
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joint6:
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has_velocity_limits: true
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max_velocity: 2.0
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has_acceleration_limits: false
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max_acceleration: 0.0
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@@ -0,0 +1,4 @@
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arm:
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kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
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kinematics_solver_search_resolution: 0.0050000000000000001
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kinematics_solver_timeout: 0.0050000000000000001
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@@ -0,0 +1,51 @@
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Panels:
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- Class: rviz_common/Displays
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /MotionPlanning1
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- Class: rviz_common/Help
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Name: Help
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- Class: rviz_common/Views
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Name: Views
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Visualization Manager:
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Displays:
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- Class: rviz_default_plugins/Grid
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Name: Grid
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Value: true
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- Class: moveit_rviz_plugin/MotionPlanning
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Name: MotionPlanning
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Planned Path:
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Loop Animation: true
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State Display Time: 0.05 s
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Trajectory Topic: display_planned_path
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Planning Scene Topic: monitored_planning_scene
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Robot Description: robot_description
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Scene Geometry:
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Scene Alpha: 1
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Scene Robot:
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Robot Alpha: 0.5
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Value: true
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Global Options:
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Fixed Frame: world
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Tools:
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- Class: rviz_default_plugins/Interact
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 2.0
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Focal Point:
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X: -0.1
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Y: 0.25
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Z: 0.30
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Name: Current View
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Pitch: 0.5
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Target Frame: world
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Yaw: -0.623
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Window Geometry:
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Height: 975
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QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Width: 1200
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@@ -0,0 +1,19 @@
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# MoveIt uses this configuration for controller management
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moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
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moveit_simple_controller_manager:
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controller_names:
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- arm_position_controller
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arm_position_controller:
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type: FollowJointTrajectory
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action_ns: follow_joint_trajectory
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default: true
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joints:
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- joint1
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- joint2
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- joint3
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- joint4
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- joint5
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- joint6
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@@ -0,0 +1,6 @@
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# Limits for the Pilz planner
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cartesian_limits:
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max_trans_vel: 1.0
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max_trans_acc: 2.25
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max_trans_dec: -5.0
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max_rot_vel: 1.57
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@@ -0,0 +1,56 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="robotic_arm_ros2_control" params="name initial_positions_file">
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<xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
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<ros2_control name="${name}" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<plugin>mock_components/GenericSystem</plugin>
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</hardware>
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<joint name="joint1">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint1']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="joint2">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint2']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="joint3">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint3']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="joint4">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint4']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="joint5">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint5']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="joint6">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['joint6']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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@@ -0,0 +1,55 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!--This does not replace URDF, and is not an extension of URDF.
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This is a format for representing semantic information about the robot structure.
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A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
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-->
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<robot name="robotic_arm">
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<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
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<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
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<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
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<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
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<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
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<group name="arm">
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<joint name="joint1"/>
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<joint name="joint2"/>
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<joint name="joint3"/>
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<joint name="joint4"/>
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<joint name="joint5"/>
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<joint name="joint6"/>
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</group>
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<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
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<group_state name="home" group="arm">
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<joint name="joint1" value="-1.0587"/>
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<joint name="joint2" value="-0.1649"/>
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<joint name="joint3" value="-0.9286"/>
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<joint name="joint4" value="0.538"/>
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<joint name="joint5" value="-0.9807"/>
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<joint name="joint6" value="-0.7116"/>
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</group_state>
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<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
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<end_effector name="end_effector" parent_link="end_effector" group="arm"/>
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<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
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<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="world"/>
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<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
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<disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
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<disable_collisions link1="base_link" link2="link2" reason="Never"/>
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<disable_collisions link1="base_link" link2="link3" reason="Never"/>
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<disable_collisions link1="base_link" link2="link4" reason="Never"/>
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<disable_collisions link1="base_link" link2="link5" reason="Never"/>
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<disable_collisions link1="base_link" link2="link6" reason="Never"/>
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<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
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<disable_collisions link1="link1" link2="link3" reason="Never"/>
|
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<disable_collisions link1="link1" link2="link4" reason="Never"/>
|
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<disable_collisions link1="link1" link2="link5" reason="Never"/>
|
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<disable_collisions link1="link1" link2="link6" reason="Never"/>
|
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<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
|
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<disable_collisions link1="link2" link2="link4" reason="Never"/>
|
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<disable_collisions link1="link2" link2="link5" reason="Never"/>
|
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<disable_collisions link1="link2" link2="link6" reason="Never"/>
|
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<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
|
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<disable_collisions link1="link3" link2="link5" reason="Never"/>
|
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<disable_collisions link1="link3" link2="link6" reason="Never"/>
|
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<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
|
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<disable_collisions link1="link4" link2="link6" reason="Never"/>
|
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<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
|
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</robot>
|
||||
@@ -0,0 +1,14 @@
|
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<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robotic_arm">
|
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<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
|
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|
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<!-- Import robotic_arm urdf file -->
|
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<xacro:include filename="$(find robotic_arm)/urdf/robotic_arm.urdf.xacro" />
|
||||
|
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<!-- Import control_xacro -->
|
||||
<xacro:include filename="robotic_arm.ros2_control.xacro" />
|
||||
|
||||
|
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<xacro:robotic_arm_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,26 @@
|
||||
# This config file is used by ros2_control
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 100 # Hz
|
||||
|
||||
arm_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
arm_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- joint1
|
||||
- joint2
|
||||
- joint3
|
||||
- joint4
|
||||
- joint5
|
||||
- joint6
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -0,0 +1,4 @@
|
||||
# copied from
|
||||
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
|
||||
|
||||
ament_prepend_unique_value AMENT_PREFIX_PATH "$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 @@
|
||||
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"
|
||||
Binary file not shown.
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_demo_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_demo_launch(moveit_config)
|
||||
@@ -0,0 +1,36 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
def generate_launch_description():
|
||||
# 声明 use_sim_time 参数
|
||||
declare_use_sim_time = DeclareLaunchArgument(
|
||||
"use_sim_time",
|
||||
default_value="true",
|
||||
description="Use simulation/Gazebo clock",
|
||||
)
|
||||
|
||||
# 构建 MoveIt 配置
|
||||
moveit_config = MoveItConfigsBuilder(
|
||||
"robotic_arm",
|
||||
package_name="MoveIt2"
|
||||
).to_moveit_configs()
|
||||
|
||||
# 启动 move_group 节点，显式传递 use_sim_time
|
||||
move_group_node = Node(
|
||||
package="moveit_ros_move_group",
|
||||
executable="move_group",
|
||||
output="screen",
|
||||
parameters=[
|
||||
moveit_config.to_dict(),
|
||||
{"use_sim_time": LaunchConfiguration("use_sim_time")},
|
||||
{"publish_robot_description_semantic": True},
|
||||
],
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
declare_use_sim_time,
|
||||
move_group_node,
|
||||
])
|
||||
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_moveit_rviz_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_moveit_rviz_launch(moveit_config)
|
||||
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_rsp_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_rsp_launch(moveit_config)
|
||||
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_setup_assistant_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_setup_assistant_launch(moveit_config)
|
||||
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_spawn_controllers_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_spawn_controllers_launch(moveit_config)
|
||||
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_static_virtual_joint_tfs_launch(moveit_config)
|
||||
@@ -0,0 +1,7 @@
|
||||
from moveit_configs_utils import MoveItConfigsBuilder
|
||||
from moveit_configs_utils.launches import generate_warehouse_db_launch
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
moveit_config = MoveItConfigsBuilder("robotic_arm", package_name="MoveIt2").to_moveit_configs()
|
||||
return generate_warehouse_db_launch(moveit_config)
|
||||
46
simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.bash
Normal file
46
simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.bash
Normal file
@@ -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/MoveIt2/environment/ament_prefix_path.sh
|
||||
source;share/MoveIt2/environment/path.sh
|
||||
184
simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.sh
Normal file
184
simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.sh
Normal file
@@ -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
|
||||
: ${AMENT_CURRENT_PREFIX:="/home/quella/ROS2_WS/simulation_ws/install/MoveIt2"}
|
||||
if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/MoveIt2/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/MoveIt2/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=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
59
simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.zsh
Normal file
59
simulation_ws/install/MoveIt2/share/MoveIt2/local_setup.zsh
Normal file
@@ -0,0 +1,59 @@
|
||||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(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=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
39
simulation_ws/install/MoveIt2/share/MoveIt2/package.bash
Normal file
39
simulation_ws/install/MoveIt2/share/MoveIt2/package.bash
Normal file
@@ -0,0 +1,39 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$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/MoveIt2/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/MoveIt2/local_setup.bash"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
8
simulation_ws/install/MoveIt2/share/MoveIt2/package.dsv
Normal file
8
simulation_ws/install/MoveIt2/share/MoveIt2/package.dsv
Normal file
@@ -0,0 +1,8 @@
|
||||
source;share/MoveIt2/hook/cmake_prefix_path.ps1
|
||||
source;share/MoveIt2/hook/cmake_prefix_path.dsv
|
||||
source;share/MoveIt2/hook/cmake_prefix_path.sh
|
||||
source;share/MoveIt2/local_setup.bash
|
||||
source;share/MoveIt2/local_setup.dsv
|
||||
source;share/MoveIt2/local_setup.ps1
|
||||
source;share/MoveIt2/local_setup.sh
|
||||
source;share/MoveIt2/local_setup.zsh
|
||||
116
simulation_ws/install/MoveIt2/share/MoveIt2/package.ps1
Normal file
116
simulation_ws/install/MoveIt2/share/MoveIt2/package.ps1
Normal file
@@ -0,0 +1,116 @@
|
||||
# generated from colcon_powershell/shell/template/package.ps1.em
|
||||
|
||||
# function to append a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as leading separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_append_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
$_duplicate=""
|
||||
# start with no values
|
||||
$_all_values=""
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(";") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -eq $_value) {
|
||||
$_duplicate="1"
|
||||
}
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values};$_"
|
||||
} else {
|
||||
$_all_values="$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# append only non-duplicates
|
||||
if (!$_duplicate) {
|
||||
# avoid leading separator
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values};${_value}"
|
||||
} else {
|
||||
$_all_values="${_value}"
|
||||
}
|
||||
}
|
||||
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_prepend_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
# start with the new value
|
||||
$_all_values="$_value"
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(";") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -ne $_value) {
|
||||
# keep non-duplicate values
|
||||
$_all_values="${_all_values};$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
function colcon_package_source_powershell_script {
|
||||
param (
|
||||
$_colcon_package_source_powershell_script
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_package_source_powershell_script) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
. "$_colcon_package_source_powershell_script"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# a powershell script is able to determine its own path
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
|
||||
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/MoveIt2/hook/cmake_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/MoveIt2/local_setup.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
87
simulation_ws/install/MoveIt2/share/MoveIt2/package.sh
Normal file
87
simulation_ws/install/MoveIt2/share/MoveIt2/package.sh
Normal file
@@ -0,0 +1,87 @@
|
||||
# generated from colcon_core/shell/template/package.sh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
# workaround SH_WORD_SPLIT not being set in zsh
|
||||
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
|
||||
colcon_zsh_convert_to_array _values
|
||||
fi
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
# restore the field separator
|
||||
IFS=$_colcon_prepend_unique_value_IFS
|
||||
unset _colcon_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/quella/ROS2_WS/simulation_ws/install/MoveIt2"
|
||||
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/MoveIt2/hook/cmake_prefix_path.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/MoveIt2/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
|
||||
52
simulation_ws/install/MoveIt2/share/MoveIt2/package.xml
Normal file
52
simulation_ws/install/MoveIt2/share/MoveIt2/package.xml
Normal file
@@ -0,0 +1,52 @@
|
||||
<?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>MoveIt2</name>
|
||||
<version>0.3.0</version>
|
||||
<description>
|
||||
An automatically generated package with all the configuration and launch files for using the robotic_arm with the MoveIt Motion Planning Framework
|
||||
</description>
|
||||
<maintainer email="2892744389@qq.com">Quella</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">http://moveit.ros.org/</url>
|
||||
<url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
|
||||
<url type="repository">https://github.com/ros-planning/moveit2</url>
|
||||
|
||||
<author email="2892744389@qq.com">Quella</author>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>moveit_ros_move_group</exec_depend>
|
||||
<exec_depend>moveit_kinematics</exec_depend>
|
||||
<exec_depend>moveit_planners</exec_depend>
|
||||
<exec_depend>moveit_simple_controller_manager</exec_depend>
|
||||
<exec_depend>joint_state_publisher</exec_depend>
|
||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
||||
<exec_depend>tf2_ros</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<!-- The next 2 packages are required for the gazebo simulation.
|
||||
We don't include them by default to prevent installing gazebo and all its dependencies. -->
|
||||
<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
|
||||
<!-- <exec_depend>gazebo_ros_control</exec_depend> -->
|
||||
<exec_depend>controller_manager</exec_depend>
|
||||
<exec_depend>moveit_configs_utils</exec_depend>
|
||||
<exec_depend>moveit_ros_move_group</exec_depend>
|
||||
<exec_depend>moveit_ros_visualization</exec_depend>
|
||||
<exec_depend>moveit_ros_warehouse</exec_depend>
|
||||
<exec_depend>moveit_setup_assistant</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>robotic_arm</exec_depend>
|
||||
<exec_depend>rviz2</exec_depend>
|
||||
<exec_depend>rviz_common</exec_depend>
|
||||
<exec_depend>rviz_default_plugins</exec_depend>
|
||||
<exec_depend>tf2_ros</exec_depend>
|
||||
<exec_depend>warehouse_ros_mongo</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
50
simulation_ws/install/MoveIt2/share/MoveIt2/package.zsh
Normal file
50
simulation_ws/install/MoveIt2/share/MoveIt2/package.zsh
Normal file
@@ -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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/MoveIt2/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
|
||||
|
||||
# source zsh hooks
|
||||
_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/MoveIt2/local_setup.zsh"
|
||||
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1 @@
|
||||
moveit_ros_move_group;moveit_kinematics;moveit_planners;moveit_simple_controller_manager;joint_state_publisher;joint_state_publisher_gui;tf2_ros;xacro;controller_manager;moveit_configs_utils;moveit_ros_visualization;moveit_ros_warehouse;moveit_setup_assistant;robot_state_publisher;robotic_arm;rviz2;rviz_common;rviz_default_plugins;warehouse_ros_mongo
|
||||
@@ -0,0 +1 @@
|
||||
/home/quella/ROS2_WS/simulation_ws/install/robotic_arm:/home/quella/ROS2_WS/simulation_ws/robotic_arm/install/robotic_arm:/opt/ros/humble
|
||||
@@ -0,0 +1 @@
|
||||
controller_manager:joint_state_publisher:joint_state_publisher_gui:moveit_configs_utils:moveit_kinematics:moveit_planners:moveit_ros_move_group:moveit_ros_visualization:moveit_ros_warehouse:moveit_setup_assistant:moveit_simple_controller_manager:robot_state_publisher:robotic_arm:rviz2:rviz_common:rviz_default_plugins:tf2_ros:warehouse_ros_mongo:xacro
|
||||
Reference in New Issue
Block a user