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add first version code

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NuoDaJia02
2025-10-24 11:12:14 +08:00
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arm_keyboard_input/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(arm_keyboard_input)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_compile_options(-g)
include_directories(
include
${CMAKE_CURRENT_SOURCE_DIR}/../include
${EIGEN3_INCLUDE_DIRS} # 引入Eigen3的头文件路径
)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(interfaces REQUIRED)
find_package(gjk_interface REQUIRED)
find_package(rclcpp_action REQUIRED)
# 设置源文件
set(SOURCES
src/arm_keyboard_node.cpp
)
add_executable(arm_keyboard_input ${SOURCES})
ament_target_dependencies(arm_keyboard_input
rclcpp
std_msgs
rclcpp_action
gjk_interface
interfaces
)
install(TARGETS
arm_keyboard_input
DESTINATION lib/${PROJECT_NAME})
ament_package()

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arm_keyboard_input/LICENSE Normal file
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Apache License
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arm_keyboard_input/include/arm_keyboard_node.hpp Normal file
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#ifndef ARM_KEYBOARD_NODE_HPP
#define ARM_KEYBOARD_NODE_HPP
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "interfaces/action/arm.hpp"
#include "arm_define.h"
#include "rm_define.h"
using ArmAction = interfaces::action::Arm;
using GoalClientArm = rclcpp_action::Client<ArmAction>;
using GoalHandleArm = rclcpp_action::ClientGoalHandle<ArmAction>;
class ArmKeyboardNode: public rclcpp::Node
{
public:
ArmKeyboardNode();
~ArmKeyboardNode();
static rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr leftArmAimPub_;
static rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr rightArmAimPub_;
std::atomic<bool> exit_flag;
GoalClientArm::SharedPtr client_ptr_;
void SendAngleSteppingGoal(const char *command);
void SendAngleMovingGoal(const float *values, int armId);
void SendDirectSteppingGoal(const char *command);
void SendDirectMovingGoal(const float *values, int armId);
void SendDirectSteppingGoal2(const float *values, int armId);
void StopGoal();
private:
std::shared_mutex rw_mutex_;
void goal_response_callback(GoalHandleArm::SharedPtr goal_handle);
void feedback_callback(
GoalHandleArm::SharedPtr goal_handle,
const std::shared_ptr<const ArmAction::Feedback> feedback);
void result_callback(const GoalHandleArm::WrappedResult & result);
rclcpp_action::Client<ArmAction>::SendGoalOptions goal_options_;
double leftArmAngleAim_[USED_ARM_DOF];
double rightArmAngleAim_[USED_ARM_DOF];
int64_t leftCommandId_;
int64_t rightCommandId_;
int leftDirectCommand_;
int rightDirectCommand_;
GoalHandleArm::SharedPtr leftArmGoalHandle_;
GoalHandleArm::SharedPtr rightArmGoalHandle_;
};
#endif // ARM_KEYBOARD_NODE_HPP

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arm_keyboard_input/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>arm_keyboard_input</name>
<version>0.0.0</version>
<description>arm_keyboard_input</description>
<maintainer email="zj@todo.todo">zj</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>interfaces</depend>
<depend>rclcpp</depend>
<depend>gjk_interface</depend>
<exec_depend>rclcpp_action</exec_depend>
<depend>std_msgs</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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arm_keyboard_input/src/arm_keyboard_node.cpp Normal file
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#include <thread>
#include <functional>
#include <future>
#include <sstream>
#include <iostream>
#include <chrono>
#include <mutex>
#include <string>
#include <fstream>
#include <termios.h>
#include <fcntl.h>
#include <unistd.h>
#include <dirent.h>
#include <linux/input.h>
#include "arm_keyboard_node.hpp"
#include "gjk_interface.hpp"
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr ArmKeyboardNode::leftArmAimPub_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr ArmKeyboardNode::rightArmAimPub_;
std::thread inputThread_;
std::mutex armAimMutex_;
int64_t commandId = 0;
using namespace std::placeholders;
using namespace Eigen;
const std::unordered_map<int, int> keyToCommand = {
{KEY_A, 0}, {KEY_S, 1}, {KEY_D, 2}, {KEY_F, 3}, {KEY_G, 4}, {KEY_H, 5},
{KEY_Z, 6}, {KEY_X, 7}, {KEY_C, 8}, {KEY_V, 9}, {KEY_B, 10}, {KEY_N, 11},
{KEY_W, 12}, {KEY_E, 13}, {KEY_R, 14}
};
enum {
KEEP_ACTION = 0,
STOP_ACTION = 1,
NEW_ACTION = 2
};
void SetNonCanonicalMode(bool enable) {
static struct termios oldt, newt;
if (enable) {
// 保存当前终端设置
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
// 禁用缓冲和回显
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
} else {
// 恢复终端设置
oldt.c_lflag |= (ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
}
}
std::string to_lower(const std::string& str) {
std::string res;
for (char c : str) {
res += tolower(c);
}
return res;
}
// 检查设备名称是否包含键盘关键词
bool is_keyboard_device(const std::string& event_path) {
// 设备名称文件路径：/sys/class/input/eventX/device/name
std::string name_path = "/sys/class/input/" + event_path + "/device/name";
// 读取设备名称
std::ifstream name_file(name_path);
if (!name_file.is_open()) {
return false;
}
std::string name;
std::getline(name_file, name);
name_file.close();
// 检查名称是否包含键盘相关关键词
std::string lower_name = to_lower(name);
const std::vector<std::string> keywords = {"keyboard"};
for (const auto& kw : keywords) {
if (lower_name.find(kw) != std::string::npos) {
return true;
}
}
return false;
}
// 查找所有输入设备并筛选出键盘
std::string find_keyboard_devices() {
const std::string input_dir = "/sys/class/input/"; // 输入设备的sysfs目录
// 打开sysfs输入设备目录
DIR* dir = opendir(input_dir.c_str());
if (!dir) {
std::cerr << "无法打开目录: " << input_dir << std::endl;
return "";
}
// 遍历所有event设备（event0, event1, ...）
dirent* entry;
while ((entry = readdir(dir)) != nullptr) {
std::string entry_name = entry->d_name;
// 只处理event开头的设备（输入设备通常以event命名）
if (entry_name.substr(0, 5) != "event") {
continue;
}
// 检查该设备是否为键盘
if (is_keyboard_device(entry_name)) {
// 转换为/dev/input/eventX格式的设备路径
std::string device_path = "/dev/input/" + entry_name;
// 打印设备信息（可选）
std::ifstream name_file("/sys/class/input/" + entry_name + "/device/name");
std::string name;
std::getline(name_file, name);
std::cout << "找到键盘设备: " << device_path << " (" << name << ")" << std::endl;
return device_path;
}
}
closedir(dir);
return "";
}
void KeyboardInputAngleStepping(std::shared_ptr<ArmKeyboardNode> armNode) {
// 设置终端为无缓冲模式
std::cout << "q:退出,[a,s,d,f,g,h]:左臂控制,[z,x,c,v,b,n]:右臂控制" << std::endl;
SetNonCanonicalMode(true);
std::string device = find_keyboard_devices();
std::cout << "找到键盘设备: " << device << std::endl;
const char* device_path = device.c_str(); // 替换为你的键盘设备
if (device_path == nullptr || strlen(device_path) == 0) {
std::cerr << "未找到键盘设备，请确保键盘已连接。" << std::endl;
SetNonCanonicalMode(false);
return;
}
int fd = open(device_path, O_RDONLY);
if (fd < 0) {
std::cerr << "无法打开设备 " << device_path << "，请检查权限或路径是否正确" << std::endl;
SetNonCanonicalMode(false);
return;
}
struct input_event ev;
char command[16] = {0};
rclcpp::Time startTime = armNode->get_clock()->now();
while (rclcpp::ok()) {
int cancel_flag = 0;
ssize_t n = read(fd, &ev, sizeof(ev));
if (n < (ssize_t)sizeof(ev)) {
continue; // 事件不完整，跳过
}
// RCLCPP_INFO(armNode->get_logger(), "type: %d, code: %d, value: %d\n", ev.type, ev.code, ev.value);
// 仅处理键盘事件
if (ev.type == EV_KEY) {
// ev.code：键码（如KEY_A=30），ev.value：0=释放，1=按下，2=重复（可忽略）
if (ev.value == 1) { // 按键按下
if (keyToCommand.find(ev.code) == keyToCommand.end()) {
if (ev.code == KEY_Q) { // 按下'q'退出
std::cout << "退出遥控模式。" << std::endl;
break;
}
continue; // 非定义按键，忽略
}
command[keyToCommand.at(ev.code)] = 1;
} else if (ev.value == 0) { // 按键释放
if (keyToCommand.find(ev.code) == keyToCommand.end()) {
continue; // 非定义按键，忽略
}
command[keyToCommand.at(ev.code)] = 0;
cancel_flag = 1;
}
}
rclcpp::Time nowTime = armNode->get_clock()->now();
int64_t duration = (nowTime - startTime).nanoseconds();
if (duration >= 100000000 || cancel_flag) { // 每100ms发送一次命令
armNode->SendAngleSteppingGoal(command);
startTime = nowTime;
}
}
// 清理资源
close(fd);
SetNonCanonicalMode(false);
}
void KeyboardInputAngleMoving(std::shared_ptr<ArmKeyboardNode> armNode) {
std::string line;
while (rclcpp::ok()) {
std::cout << "请输入: 整数(0(退出)/1(左臂)/2(右臂)),6个float,用','分割,以';'结尾:" << std::endl;
std::getline(std::cin, line, ';');
std::istringstream ss(line);
std::string token;
int mode;
float values[USED_ARM_DOF];
bool valid = true;
// 解析整数
if (!std::getline(ss, token, ',')) {
valid = false;
}
else {
try {
mode = std::stoi(token);
if (mode != 1 && mode != 2) valid = false;
} catch (...) {
valid = false;
}
}
// 解析6个float
for (int i = 0; i < USED_ARM_DOF && valid; ++i) {
if (!std::getline(ss, token, ',')) { valid = false; break; }
try {
values[i] = std::stof(token);
} catch (...) { valid = false; }
}
if (mode == 0) {
std::cout << "退出输入角度模式。" << std::endl;
return;
}
if (valid) {
if (mode == 1)
armNode->SendAngleMovingGoal(values, LEFT_ARM);
else if (mode == 2)
armNode->SendAngleMovingGoal(values, RIGHT_ARM);
} else {
std::cout << "输入格式错误,请重试。" << std::endl;
}
std::this_thread::sleep_for(std::chrono::seconds(1));
}
}
void KeyboardInputPoseMoving(std::shared_ptr<ArmKeyboardNode> armNode) {
std::string line;
while (rclcpp::ok()) {
std::cout << "请输入: 整数(0(退出)/1(左臂)/2(右臂)),7个float,用','分割,以';'结尾:" << std::endl;
std::getline(std::cin, line, ';');
std::istringstream ss(line);
std::string token;
int mode;
float values[POSE_DIMENSION];
bool valid = true;
// 解析整数
if (!std::getline(ss, token, ',')) {
valid = false;
}
else {
try {
mode = std::stoi(token);
if (mode != 1 && mode != 2) valid = false;
} catch (...) {
valid = false;
}
}
// 解析6个float
for (int i = 0; i < POSE_DIMENSION && valid; ++i) {
if (!std::getline(ss, token, ',')) { valid = false; break; }
try {
values[i] = std::stof(token);
} catch (...) { valid = false; }
}
if (mode == 0) {
std::cout << "退出输入pose模式。" << std::endl;
return;
}
if (valid) {
if (mode == 1)
armNode->SendDirectMovingGoal(values, LEFT_ARM);
else if (mode == 2)
armNode->SendDirectMovingGoal(values, RIGHT_ARM);
} else {
std::cout << "输入格式错误,请重试。" << std::endl;
}
std::this_thread::sleep_for(std::chrono::seconds(1));
}
}
void KeyboardInputPoseStepping2(std::shared_ptr<ArmKeyboardNode> armNode) {
std::string line;
auto message = std_msgs::msg::Float64MultiArray();
message.data.resize(ARM_DOF);
while (rclcpp::ok()) {
std::cout << "请输入: 整数(0(退出)/1(左臂)/2(右臂)/3(停止)),7个float,用','分割,以';'结尾:" << std::endl;
std::getline(std::cin, line, ';');
std::istringstream ss(line);
std::string token;
int mode;
float values[POSE_DIMENSION];
bool valid = true;
// 解析整数
if (!std::getline(ss, token, ',')) {
valid = false;
}
else {
try {
mode = std::stoi(token);
if (mode != 1 && mode != 2) valid = false;
} catch (...) {
valid = false;
}
}
// 解析6个float
for (int i = 0; i < POSE_DIMENSION && valid; ++i) {
if (!std::getline(ss, token, ',')) { valid = false; break; }
try {
values[i] = std::stof(token);
} catch (...) { valid = false; }
}
if (mode == 0) {
std::cout << "退出输入角度模式。" << std::endl;
return;
}
if (mode == 3) {
armNode->StopGoal();
continue;
}
if (valid) {
if (mode == 1)
armNode->SendDirectSteppingGoal2(values, LEFT_ARM);
else if (mode == 2)
armNode->SendDirectSteppingGoal2(values, RIGHT_ARM);
} else {
std::cout << "输入格式错误,请重试。" << std::endl;
}
std::this_thread::sleep_for(std::chrono::seconds(1));
}
}
void ArmKeyboardNode::StopGoal()
{
std::cout << "取消当前目标。" << std::endl;
std::lock_guard<std::mutex> lock(armAimMutex_);
if (leftArmGoalHandle_ != nullptr && leftCommandId_ != 0) {
client_ptr_->async_cancel_goal(leftArmGoalHandle_);
leftArmGoalHandle_.reset();
std::cout << "左臂目标已取消。" << std::endl;
}
if (rightArmGoalHandle_ != nullptr && rightCommandId_ != 0) {
client_ptr_->async_cancel_goal(rightArmGoalHandle_);
rightArmGoalHandle_.reset();
std::cout << "右臂目标已取消。" << std::endl;
}
}
void ArmKeyboardNode::SendDirectSteppingGoal2(const float *values, int armId)
{
std::lock_guard<std::mutex> lock(armAimMutex_);
int64_t timeStamp = get_clock()->now().nanoseconds();
auto goal_msg = ArmAction::Goal();
commandId++;
goal_msg.body_id.body_id = armId;
goal_msg.data_type.action_type = ARM_COMMAND_TYPE_POSE_STEP_ON; // 位置控制
goal_msg.data_length.data_length = POSE_DIMENSION;
goal_msg.frame_time_stamp = timeStamp;
goal_msg.command_id = commandId;
for (int i = 0; i < POSE_DIMENSION; ++i) {
goal_msg.data_array.push_back(values[i]);
}
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
if (armId == LEFT_ARM) {
leftCommandId_ = commandId;
leftArmGoalHandle_ = future.get();
} else {
rightCommandId_ = commandId;
rightArmGoalHandle_ = future.get();
}
}
void ArmKeyboardNode::SendDirectMovingGoal(const float *values, int armId)
{
std::lock_guard<std::mutex> lock(armAimMutex_);
int64_t timeStamp = get_clock()->now().nanoseconds();
auto goal_msg = ArmAction::Goal();
commandId++;
goal_msg.body_id.body_id = armId;
goal_msg.data_type.action_type = ARM_COMMAND_TYPE_POSE_DIRECT_MOVE; // 位置控制
goal_msg.data_length.data_length = POSE_DIMENSION;
goal_msg.frame_time_stamp = timeStamp;
goal_msg.command_id = commandId;
for (int i = 0; i < POSE_DIMENSION; ++i) {
goal_msg.data_array.push_back(values[i]);
}
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
if (armId == LEFT_ARM) {
leftCommandId_ = commandId;
leftArmGoalHandle_ = future.get();
} else {
rightCommandId_ = commandId;
rightArmGoalHandle_ = future.get();
}
}
void ArmKeyboardNode::SendAngleMovingGoal(const float *values, int armId)
{
std::lock_guard<std::mutex> lock(armAimMutex_);
int64_t timeStamp = get_clock()->now().nanoseconds();
auto goal_msg = ArmAction::Goal();
commandId++;
RCLCPP_INFO(this->get_logger(), "SendAngleMovingGoal id=%ld", commandId);
goal_msg.body_id.body_id = armId;
goal_msg.data_type.action_type = ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE; // 位置控制
goal_msg.data_length.data_length = USED_ARM_DOF;
goal_msg.frame_time_stamp = timeStamp;
goal_msg.command_id = commandId;
for (int i = 0; i < USED_ARM_DOF; ++i) {
goal_msg.data_array.push_back(values[i]);
}
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
if (armId == LEFT_ARM) {
leftCommandId_ = commandId;
leftArmGoalHandle_ = future.get();
} else {
rightCommandId_ = commandId;
rightArmGoalHandle_ = future.get();
}
}
void KeyboardInputDirectStepping(std::shared_ptr<ArmKeyboardNode> armNode) {
// 设置终端为无缓冲模式
std::cout << "q:退出,w:左臂控制,e:右臂控制,r:负方向增量,a:x方向移动,s:y方向移动,"
<< "d:z方向移动,z:rx方向旋转,x:ry方向旋转,c:rz方向旋转,v:rw方向旋转" << std::endl;
SetNonCanonicalMode(true);
std::string device = find_keyboard_devices();
std::cout << "找到键盘设备: " << device << std::endl;
const char* device_path = device.c_str(); // 替换为你的键盘设备
if (device_path == nullptr || strlen(device_path) == 0) {
std::cerr << "未找到键盘设备，请确保键盘已连接。" << std::endl;
SetNonCanonicalMode(false);
return;
}
int fd = open(device_path, O_RDONLY);
if (fd < 0) {
std::cerr << "无法打开设备 " << device_path << "，请检查权限或路径是否正确" << std::endl;
SetNonCanonicalMode(false);
return;
}
struct input_event ev;
char command[16] = {0};
rclcpp::Time startTime = armNode->get_clock()->now();
while (rclcpp::ok()) {
int cancel_flag = 0;
ssize_t n = read(fd, &ev, sizeof(ev));
if (n < (ssize_t)sizeof(ev)) {
continue; // 事件不完整，跳过
}
// RCLCPP_INFO(armNode->get_logger(), "type: %d, code: %d, value: %d\n", ev.type, ev.code, ev.value);
// 仅处理键盘事件
if (ev.type == EV_KEY) {
// ev.code：键码（如KEY_A=30），ev.value：0=释放，1=按下，2=重复（可忽略）
if (ev.value == 1) { // 按键按下
if (keyToCommand.find(ev.code) == keyToCommand.end()) {
if (ev.code == KEY_Q) { // 按下'q'退出
std::cout << "退出遥控模式。" << std::endl;
break;
}
continue; // 非定义按键，忽略
}
command[keyToCommand.at(ev.code)] = 1;
} else if (ev.value == 0) { // 按键释放
if (keyToCommand.find(ev.code) == keyToCommand.end()) {
continue; // 非定义按键，忽略
}
command[keyToCommand.at(ev.code)] = 0;
cancel_flag = 1;
}
}
rclcpp::Time nowTime = armNode->get_clock()->now();
int64_t duration = (nowTime - startTime).nanoseconds();
if (duration >= 100000000 || cancel_flag) { // 每100ms发送一次命令
armNode->SendDirectSteppingGoal(command);
startTime = nowTime;
}
}
// 清理资源
close(fd);
SetNonCanonicalMode(false);
}
static void ListenInputThread(std::shared_ptr<ArmKeyboardNode> armNode) {
std::string line;
auto message = std_msgs::msg::Float64MultiArray();
message.data.resize(ARM_DOF);
while (rclcpp::ok()) {
std::cout << "请输入选择控制模式,0:退出,1:移动至目标角度,2:移动至目标位置,3:持续旋转角度,4:持续往某个方向移动,以';'结尾:" << std::endl;
std::getline(std::cin, line, ';');
int mode = 0;
try {
mode = std::stoi(line);
} catch (...) {
std::cout << "输入格式错误,请重试。" << std::endl;
continue;
}
switch (mode) {
case 0:
std::cout << "退出输入监听线程。" << std::endl;
armNode->exit_flag = true;
return;
case 1:
KeyboardInputAngleMoving(armNode);
break;
case 2:
KeyboardInputPoseMoving(armNode);
break;
case 3:
KeyboardInputAngleStepping(armNode);
std::getline(std::cin, line, 'q');
break;
case 4:
KeyboardInputPoseStepping2(armNode);
break;
case 5:
KeyboardInputPoseStepping2(armNode);
break;
default:
if (mode != 0) {
std::cout << "无效选择，请重试。" << std::endl;
}
break;
}
}
}
ArmKeyboardNode::ArmKeyboardNode() : Node("arm_keyboard_node")
{
for (int i = 0; i < USED_ARM_DOF; ++i) {
leftArmAngleAim_[i] = 0.0;
rightArmAngleAim_[i] = 0.0;
}
leftCommandId_ = 0;
rightCommandId_ = 0;
leftArmAimPub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>("left_arm_command", 10);
rightArmAimPub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>("right_arm_command", 10);
exit_flag = false;
this->client_ptr_ = rclcpp_action::create_client<ArmAction>(
this,
"ArmAction");
goal_options_.goal_response_callback =
std::bind(&ArmKeyboardNode::goal_response_callback, this, _1);
goal_options_.feedback_callback =
std::bind(&ArmKeyboardNode::feedback_callback, this, _1, _2);
goal_options_.result_callback =
std::bind(&ArmKeyboardNode::result_callback, this, _1);
}
ArmKeyboardNode::~ArmKeyboardNode()
{
if (inputThread_.joinable()) {
inputThread_.join(); // 或 join()，视你的需求
}
rightArmAimPub_.reset();
leftArmAimPub_.reset();
}
void ArmKeyboardNode::goal_response_callback(GoalHandleArm::SharedPtr goal_handle)
{
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
} else {
RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
}
}
void ArmKeyboardNode::feedback_callback(
GoalHandleArm::SharedPtr goal_handle,
const std::shared_ptr<const ArmAction::Feedback> feedback)
{
if (!goal_handle || !feedback) {
RCLCPP_INFO(this->get_logger(), "feedback received err.");
}
}
void ArmKeyboardNode::result_callback(const GoalHandleArm::WrappedResult & result)
{
std::unique_lock lock(rw_mutex_);
int64_t command_id = result.result->command_id;
if (command_id == leftCommandId_) {
leftCommandId_ = 0;
leftArmGoalHandle_ = nullptr;
} else if (command_id == rightCommandId_) {
rightCommandId_ = 0;
rightArmGoalHandle_ = nullptr;
} else {
RCLCPP_ERROR(this->get_logger(), "Unknown command id in result: %ld", command_id);
return;
}
switch (result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
RCLCPP_INFO(this->get_logger(), "Goal was succeeded, command id: %ld", command_id);
break;
case rclcpp_action::ResultCode::ABORTED:
RCLCPP_ERROR(this->get_logger(), "Goal was aborted, command id: %ld", command_id);
return;
case rclcpp_action::ResultCode::CANCELED:
RCLCPP_ERROR(this->get_logger(), "Goal was canceled, command id: %ld", command_id);
return;
default:
RCLCPP_ERROR(this->get_logger(), "Unknown result code, command id: %ld", command_id);
return;
}
}
int directCommandMap[POSE_DIMENSION] = {0, 1, 2, 6, 7, 8, 9};
void ArmKeyboardNode::SendDirectSteppingGoal(const char *command)
{
std::unique_lock lock(rw_mutex_);
std::string commandStr = "command: ";
for (int i = 0; i < 16; ++i) {
if (command[i]) {
commandStr += std::to_string(i) + " ";
}
}
RCLCPP_INFO(this->get_logger(), "%s", commandStr.c_str());
if (client_ptr_ == nullptr) {
RCLCPP_ERROR(this->get_logger(), "Action client not initialized");
return;
}
if (!client_ptr_->action_server_is_ready()) {
RCLCPP_ERROR(this->get_logger(), "Action server not ready");
return;
}
auto goal_msg = ArmAction::Goal();
int commandValueBitMap = 0;
double speedadd = 0.01;
if (command[14]) {
speedadd = -0.01;
}
goal_msg.data_type.action_type = ARM_COMMAND_TYPE_POSE_STEP_ON; // 位置控制
goal_msg.data_length.data_length = POSE_DIMENSION;
goal_msg.command_id = commandId;
for (int i = 0; i < POSE_DIMENSION; ++i) {
if (command[directCommandMap[i]]) {
goal_msg.data_array.push_back(speedadd);
commandValueBitMap |= (1 << i);
} else {
goal_msg.data_array.push_back(0.0);
}
}
if (command[12] && leftDirectCommand_!= commandValueBitMap) {
commandId++;
goal_msg.body_id.body_id = LEFT_ARM;
leftDirectCommand_ = commandValueBitMap;
if (leftArmGoalHandle_ != nullptr && leftCommandId_ != 0) {
RCLCPP_INFO(this->get_logger(), "cancel left arm goal. command id: %ld", leftCommandId_);
client_ptr_->async_cancel_goal(leftArmGoalHandle_);
leftArmGoalHandle_.reset();
} else if (rightArmGoalHandle_ != nullptr && rightCommandId_ != 0) {
RCLCPP_INFO(this->get_logger(), "cancel right arm goal. command id: %ld", rightCommandId_);
client_ptr_->async_cancel_goal(rightArmGoalHandle_);
rightArmGoalHandle_.reset();
}
if (commandValueBitMap != 0) {
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
leftCommandId_ = commandId;
leftArmGoalHandle_ = future.get();
RCLCPP_INFO(this->get_logger(), "send left arm goal, command id: %ld", commandId);
}
} else if (command[13] && rightDirectCommand_!= commandValueBitMap) {
commandId++;
goal_msg.body_id.body_id = RIGHT_ARM;
rightDirectCommand_ = commandValueBitMap;
if (rightArmGoalHandle_ != nullptr && rightCommandId_ != 0) {
RCLCPP_INFO(this->get_logger(), "cancel right arm goal. command id: %ld", rightCommandId_);
client_ptr_->async_cancel_goal(rightArmGoalHandle_);
rightArmGoalHandle_.reset();
} else if (leftArmGoalHandle_ != nullptr && leftCommandId_ != 0) {
RCLCPP_INFO(this->get_logger(), "cancel left arm goal. command id: %ld", leftCommandId_);
client_ptr_->async_cancel_goal(leftArmGoalHandle_);
leftArmGoalHandle_.reset();
}
if (commandValueBitMap != 0) {
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
rightCommandId_ = commandId;
rightArmGoalHandle_ = future.get();
RCLCPP_INFO(this->get_logger(), "send right arm goal, command id: %ld", commandId);
}
} else {
RCLCPP_ERROR(this->get_logger(), "No arm selected");
return;
}
}
int actionChange[8] = {KEEP_ACTION, NEW_ACTION, KEEP_ACTION, NEW_ACTION,
STOP_ACTION, NEW_ACTION, NEW_ACTION, NEW_ACTION};
void ArmKeyboardNode::SendAngleSteppingGoal(const char *command) {
std::unique_lock lock(rw_mutex_);
std::string commandStr = "command: ";
for (int i = 0; i < 16; ++i) {
if (command[i]) {
commandStr += std::to_string(i) + " ";
}
}
RCLCPP_INFO(this->get_logger(), "%s", commandStr.c_str());
if (client_ptr_ == nullptr) {
RCLCPP_ERROR(this->get_logger(), "Action client not initialized");
return;
}
if (!client_ptr_->action_server_is_ready()) {
RCLCPP_ERROR(this->get_logger(), "Action server not ready");
return;
}
float speedadd = 0.02;
if (command[12]) {
speedadd = -0.02;
}
int rightArmMove = 0;
int leftArmMove = 0;
int rightArmStop = 0;
int leftArmStop = 0;
int rightArmNew = 0;
int leftArmNew = 0;
int rightArmKeep = 0;
int leftArmKeep = 0;
for (int i = 0; i < USED_ARM_DOF; ++i) {
if (command[i]) {
if (fabs(leftArmAngleAim_[i] + speedadd) < 0.1) {
leftArmAngleAim_[i] += speedadd;
leftArmNew = 1;
} else {
leftArmKeep = 1;
}
} else {
if (leftArmAngleAim_[i] != 0.0f) {
leftArmAngleAim_[i] = 0;
leftArmStop = 1;
}
}
if (command[i + USED_ARM_DOF]) {
if (fabs(rightArmAngleAim_[i] + speedadd) < 0.1) {
rightArmAngleAim_[i] += speedadd;
rightArmNew = 1;
} else {
rightArmKeep = 1;
}
} else {
if (rightArmAngleAim_[i] != 0.0f) {
rightArmAngleAim_[i] = 0;
rightArmStop = 1;
}
}
}
leftArmMove = actionChange[leftArmNew | (leftArmStop << 2) | (leftArmKeep << 1)];
rightArmMove = actionChange[rightArmNew | (rightArmStop << 2) | (rightArmKeep << 1)];
if (leftArmMove != KEEP_ACTION) {
if (leftArmGoalHandle_ != nullptr && leftCommandId_ != 0) {
RCLCPP_INFO(this->get_logger(), "cancel left arm goal. command id: %ld", leftCommandId_);
client_ptr_->async_cancel_goal(leftArmGoalHandle_);
leftArmGoalHandle_.reset();
}
if ((leftArmMove & NEW_ACTION) != 0) {
auto goal_msg = ArmAction::Goal();
commandId++;
leftCommandId_ = commandId;
goal_msg.body_id.body_id = LEFT_ARM;
goal_msg.data_type.action_type = ARM_COMMAND_TYPE_ANGLE_STEP_ON; // 位置控制
goal_msg.data_length.data_length = USED_ARM_DOF;
goal_msg.command_id = commandId;
for (int i = 0; i < USED_ARM_DOF; ++i) {
goal_msg.data_array.push_back(leftArmAngleAim_[i]);
}
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
leftArmGoalHandle_ = future.get();
RCLCPP_INFO(this->get_logger(), "send left arm goal, command id: %ld", commandId);
}
}
if (rightArmMove != KEEP_ACTION) {
if (rightArmGoalHandle_ != nullptr && rightCommandId_ != 0) {
RCLCPP_INFO(this->get_logger(), "cancel right arm goal. command id: %ld", rightCommandId_);
client_ptr_->async_cancel_goal(rightArmGoalHandle_);
rightArmGoalHandle_.reset();
}
if ((rightArmMove & NEW_ACTION) != 0) {
auto goal_msg = ArmAction::Goal();
commandId++;
rightCommandId_ = commandId;
goal_msg.body_id.body_id = RIGHT_ARM;
goal_msg.data_type.action_type = ARM_COMMAND_TYPE_ANGLE_STEP_ON; // 位置控制
goal_msg.data_length.data_length = USED_ARM_DOF;
goal_msg.command_id = commandId;
for (int i = 0; i < USED_ARM_DOF; ++i) {
goal_msg.data_array.push_back(rightArmAngleAim_[i]);
}
auto future = client_ptr_->async_send_goal(goal_msg, goal_options_);
rightArmGoalHandle_ = future.get();
RCLCPP_INFO(this->get_logger(), "send right arm goal, command id: %ld", commandId);
}
}
}
int main(int argc, char *argv[])
{
/*std::vector<Eigen::Vector3d> polyA = {Vector3d(2,0,0), Vector3d(4,0,0), Vector3d(2,2,0), Vector3d(4,2,0),
Vector3d(2,0,2), Vector3d(4,0,2), Vector3d(2,2,2), Vector3d(4,2,2)};
std::vector<Eigen::Vector3d> polyB = {Vector3d(3,1,1), Vector3d(5,1,1), Vector3d(3,3,1), Vector3d(5,3,1),
Vector3d(3,1,3), Vector3d(5,1,3), Vector3d(3,3,3), Vector3d(5,3,3)};
OBB obbA = gjk_interface::createOBBFromVertices(polyA, 2, 2, 2);
OBB obbB = gjk_interface::createOBBFromVertices(polyB, 2, 2, 2);
bool inCollisionOBB = gjk_interface::checkOBBCollision(obbA, obbB);
if (inCollisionOBB) {
printf("dect poly A and B collision\n");
} else {
printf("dect poly A and B safe\n");
}
polyA = {Vector3d(2,0,0), Vector3d(4,0,0), Vector3d(2,2,0), Vector3d(4,2,0),
Vector3d(2,0,2), Vector3d(4,0,2), Vector3d(2,2,2), Vector3d(4,2,2)};
polyB = {Vector3d(3.99,0,0), Vector3d(5.99,0,0), Vector3d(3.99,2,0), Vector3d(5.99,2,0),
Vector3d(3.99,0,2), Vector3d(5.99,0,2), Vector3d(3.99,2,2), Vector3d(5.99,2,2)};
obbA = gjk_interface::createOBBFromVertices(polyA, 2, 2, 2);
obbB = gjk_interface::createOBBFromVertices(polyB, 2, 2, 2);
inCollisionOBB = gjk_interface::checkOBBCollision(obbA, obbB);
if (inCollisionOBB) {
printf("dect poly A and B collision\n");
} else {
printf("dect poly A and B safe\n");
}*/
rclcpp::init(argc, argv);
rclcpp::Node::SharedPtr node = std::make_shared<ArmKeyboardNode>();
std::shared_ptr<ArmKeyboardNode> armNode = std::dynamic_pointer_cast<ArmKeyboardNode>(node);
// 启动输入监听线程
inputThread_ = std::thread(ListenInputThread, armNode);
while (rclcpp::ok() && !armNode->exit_flag) {
rclcpp::spin_some(node); // 处理所有待处理的事件
std::this_thread::sleep_for(std::chrono::milliseconds(10)); // 短暂休眠，降低CPU占用
}
rclcpp::shutdown();
return 0;
}

16
common_msg/CMakeLists.txt Normal file
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@@ -0,0 +1,16 @@
cmake_minimum_required(VERSION 3.8)
project(common_msg)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/ArmCommnd.msg"
)
ament_package()

202
common_msg/LICENSE Normal file
View File

@@ -0,0 +1,202 @@
Apache License
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http://www.apache.org/licenses/
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distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
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Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
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See the License for the specific language governing permissions and
limitations under the License.

5
common_msg/msg/ArmCommnd.msg Normal file
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@@ -0,0 +1,5 @@
int8 body_id
int8 data_type
int16 data_length
int32 command_id
float64[] data_array

17
common_msg/package.xml Normal file
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<?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>common_msg</name>
<version>0.0.0</version>
<description>common_msg</description>
<maintainer email="zj@todo.todo">zj</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

42
gjk_interface/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(gjk_interface)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_compile_options(-g)
find_package(ament_cmake REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package(Eigen3 REQUIRED) # 查找Eigen3库
add_library(${PROJECT_NAME} SHARED
src/gjk_interface.cpp
)
ament_target_dependencies(gjk_interface
Eigen3
)
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
install(TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(
DIRECTORY include/
DESTINATION include
)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_include_directories(include)
ament_package()

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gjk_interface/LICENSE Normal file
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@@ -0,0 +1,202 @@
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
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of the following places: within a NOTICE text file distributed
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wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
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that such additional attribution notices cannot be construed
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You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
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any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

27
gjk_interface/include/gjk_interface.hpp Normal file
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#ifndef GJK_INTERFACE_HPP
#define GJK_INTERFACE_HPP
#include <vector>
#include <Eigen/Dense>
typedef enum {
COLLISION_RESULT_NO_COLLISION = 0,
COLLISION_RESULT_COLLISION = 1,
COLLISION_RESULT_ERROR = -1
} CollisionResultE;
struct OBB {
Eigen::Vector3d center; // 中心
Eigen::Vector3d axis[3]; // 3条正交的棱边方向轴（单位向量）
double halfExtent[3]; // 沿各轴的半长（从中心到面的距离）
};
namespace gjk_interface {
bool gjkCollisionJudge(const std::vector<Eigen::Vector3d>& polyA, const std::vector<Eigen::Vector3d>& polyB);
OBB createOBBFromVertices(const std::vector<Eigen::Vector3d>& vertices,
const float length, const float width, const float height);
bool checkOBBCollision(const OBB &obb1, const OBB &obb2);
} // namespace gjk_interface
#endif // GJK_INTERFACE_HPP

16
gjk_interface/package.xml Normal file
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<?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>gjk_interface</name>
<version>0.0.0</version>
<description>gjk_interface</description>
<maintainer email="zj@todo.todo">zj</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>Eigen3</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

249
gjk_interface/src/gjk_interface.cpp Normal file
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#include "math.h"
#include "gjk_interface.hpp"
#define POLY_SIMPLIFY_MAX_SIZE 4
using namespace Eigen;
namespace gjk_interface {
const Vector3d support(const std::vector<Vector3d>& poly, const Vector3d& dir)
{
float maxDot = -INFINITY;
Vector3d supportPoint;
for (const Vector3d& p : poly) {
float dot = p.dot(dir);
if (dot > maxDot) {
maxDot = dot;
supportPoint = p;
}
}
return supportPoint;
}
Vector3d supportMinkowski(const std::vector<Vector3d>& polyA, const std::vector<Vector3d>& polyB, Vector3d& dir)
{
Vector3d simplexPoint = support(polyA, dir);
const Vector3d oppositeDir = dir * -1;
simplexPoint = simplexPoint - support(polyB, oppositeDir);
return simplexPoint;
}
Vector3d checkLineSegment3D(const Vector3d& v0, const Vector3d& v1) {
Vector3d a = v1 - v0; // 线段方向向量
Vector3d b = -v1; // 从v1到原点的向量
float aDotA = a.dot(a);
Vector3d bParallel = a * (a.dot(b) / aDotA); // 平行投影
Vector3d bPerp = b - bParallel; // 垂直投影（新方向）
return bPerp;
}
Vector3d GetNormalToOri(const Vector3d& a, const Vector3d& b, const Vector3d& c) {
Vector3d ab = b - a;
Vector3d ac = c - a;
Vector3d ad = -a;
Vector3d n_initial = ab.cross(ac);
Vector3d n_outer = (n_initial.dot(ad) < 0) ? -n_initial : n_initial;
return n_outer;
}
Vector3d GetDir(const std::vector<Vector3d>& simplex) {
if (simplex.size() == 1) {
return -simplex[0];
} else if (simplex.size() == 2) {
return checkLineSegment3D(simplex[0], simplex[1]);
} else if (simplex.size() == 3) {
return GetNormalToOri(simplex[0], simplex[1], simplex[2]);
}
return Vector3d(0, 0, 0);
}
bool CheckTetrahedronHaveZero(const std::vector<Vector3d>& simplex) {
Vector3d A = simplex[0];
Vector3d B = simplex[1];
Vector3d C = simplex[2];
Vector3d D = simplex[3]; // 最新点（面ABC的对
// 构造线性方程组 Ax = b（求解alpha, beta, gamma）
Matrix3d mat;
mat.col(0) = A - D; // x1-x4, y1-y4, z1-z4
mat.col(1) = B - D; // x2-x4, y2-y4, z2-z4
mat.col(2) = C - D; // x3-x4, y3-y4, z3-z4
Vector3d b = -D; // -x4, -y4, -z4
// 求解方程组：mat * [alpha; beta; gamma] = b
if (mat.determinant() == 0) {
return true;
}
Vector3d x = mat.inverse() * b;
float alpha = x(0), beta = x(1), gamma = x(2);
float delta = 1 - alpha - beta - gamma;
// 判定4个权重是否均为正（允许1e-6误差）
const float eps = 1e-6;
return (alpha > eps) && (beta > eps) && (gamma > eps) && (delta > eps);
}
bool CheckTetrahedronHaveZero2(const std::vector<Vector3d>& simplex) {
Vector3d A = simplex[0];
Vector3d B = simplex[1];
Vector3d C = simplex[2];
Vector3d D = simplex[3]; // 最新点（面ABC的对
// 构造线性方程组 Ax = b（求解alpha, beta, gamma）
auto scalar_triple = [](const Vector3d& a, const Vector3d& b, const Vector3d& c) {
return a.dot(b.cross(c)); // Eigen封装了叉积和点积，底层运算与手动计算一致
};
double v0 = scalar_triple(B, C, D);
double v1 = scalar_triple(A, C, D);
double v2 = scalar_triple(A, B, D);
double v3 = scalar_triple(A, B, C);
// 判断所有符号是否一致（均正或均负）
bool all_positive = (v0 > 0) && (v1 > 0) && (v2 > 0) && (v3 > 0);
bool all_negative = (v0 < 0) && (v1 < 0) && (v2 < 0) && (v3 < 0);
return all_positive || all_negative;
}
bool gjkCollisionJudge(const std::vector<Vector3d>& polyA, const std::vector<Vector3d>& polyB)
{
// 初始搜索方向（从A中心指向B中心）
Vector3d centerA(0, 0, 0), centerB(0, 0, 0);
for (const auto& p : polyA) {
centerA = centerA + p;
}
for (const auto& p : polyB) {
centerB = centerB + p;
}
centerA = centerA / polyA.size();
centerB = centerB / polyA.size();
Vector3d dir = centerB - centerA;
// 初始化单纯形
std::vector<Vector3d> simplex;
Vector3d newPoint = supportMinkowski(polyA, polyB, dir);
simplex.push_back(newPoint);
int maxIndex = 3;
while (true) {
dir = GetDir(simplex);
if (dir.dot(dir) < 1e-6) {
return true;
}
newPoint = supportMinkowski(polyA, polyB, dir);
if (newPoint.dot(newPoint) < 1e-6) {
return true;
}
if (newPoint.dot(dir) < -(1e-6)) {
return false;
}
simplex.push_back(newPoint);
if (simplex.size() == POLY_SIMPLIFY_MAX_SIZE) {
bool haveZero = CheckTetrahedronHaveZero2(simplex);
if (haveZero) {
return true;
} else {
float maxLength = 0;
for (size_t i = 0; i < POLY_SIMPLIFY_MAX_SIZE; i++) {
Vector3d simplexPoint = simplex[i];
float newLength = simplexPoint.dot(simplexPoint);
if (maxLength < newLength) {
maxLength = newLength;
maxIndex = i;
}
}
simplex.erase(simplex.begin() + maxIndex);
}
}
}
return false;
}
// 从8个顶点提取OBB参数
OBB createOBBFromVertices(const std::vector<Eigen::Vector3d>& vertices,
const float length, const float width, const float height) {
if (vertices.size() != 8) {
throw std::invalid_argument("OBB创建失败:必须输入8个顶点");
}
OBB obb;
obb.center = (vertices[1] + vertices[2] + vertices[4] - vertices[0]) * (1.0 / 2.0);
// 正交化（格拉姆-施密特过程），确保3条轴正交
obb.axis[0] = (vertices[1] - vertices[0]).normalized();
obb.axis[1] = (vertices[2] - vertices[0]).normalized();
obb.axis[2] = (vertices[4] - vertices[0]).normalized();
obb.halfExtent[0] = length * (1.0 / 2.0);
obb.halfExtent[1] = width * (1.0 / 2.0);
obb.halfExtent[2] = height * (1.0 / 2.0);
return obb;
}
// 计算OBB在指定轴上的投影范围（min, max）
std::pair<double, double> projectOBB(const OBB& obb, const Vector3d& axis) {
// OBB中心在轴上的投影
double centerProj = obb.center.dot(axis);
// OBB沿轴的总投影长度（半长在轴上的投影之和）
double totalExtent = 0.0;
for (int i = 0; i < 3; ++i) {
totalExtent += obb.halfExtent[i] * fabs(obb.axis[i].dot(axis));
}
return { centerProj - totalExtent, centerProj + totalExtent };
}
// 判断两个投影范围是否重叠
bool areProjectionsOverlapping(double aMin, double aMax, double bMin, double bMax) {
return !(aMax < bMin - 1e-6 || bMax < aMin - 1e-6); // 1e-6为浮点误差容限
}
// OBB碰撞检测主函数（输入：两个长方体的8个顶点，共16个）
bool checkOBBCollision(const OBB &obb1, const OBB &obb2) {
// 2. 定义所有需要检查的分离轴（共15条）
std::vector<Vector3d> separationAxes;
// 2.3 两个OBB轴的两两叉积（3×3=9条）
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
Vector3d crossAxis = obb1.axis[i].cross(obb2.axis[j]);
if (crossAxis.dot(crossAxis) > 1e-6) { // 排除零向量（轴平行时叉积为零
Vector3d crossAxisNormalized = crossAxis.normalized();
auto [aMin, aMax] = projectOBB(obb1, crossAxisNormalized);
auto [bMin, bMax] = projectOBB(obb2, crossAxisNormalized);
if (!areProjectionsOverlapping(aMin, aMax, bMin, bMax)) {
// 找到分离轴，判定为不碰撞
return false;
}
}
}
}
// 2.1 第一个OBB的3条轴
for (int i = 0; i < 3; ++i) {
auto [aMin, aMax] = projectOBB(obb1, obb1.axis[i]);
auto [bMin, bMax] = projectOBB(obb2, obb1.axis[i]);
if (!areProjectionsOverlapping(aMin, aMax, bMin, bMax)) {
// 找到分离轴，判定为不碰撞
return false;
}
}
// 2.2 第二个OBB的3条轴
for (int i = 0; i < 3; ++i) {
auto [aMin, aMax] = projectOBB(obb1, obb2.axis[i]);
auto [bMin, bMax] = projectOBB(obb2, obb2.axis[i]);
if (!areProjectionsOverlapping(aMin, aMax, bMin, bMax)) {
// 找到分离轴，判定为不碰撞
return false;
}
}
// 所有轴均重叠，判定为碰撞
return true;
}
}

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#ifndef ARM_DEFINE_H
#define ARM_DEFINE_H
#define USED_ARM_DOF (6)
#define GOAL_DATA_LENGTH (7)
#define USED_OTHER_DOF (17)
#define MAX_ARM_GOAL_COUNT 16
#define MAX_TRAJECTORY_HISTORY 64
#define ARM_FOLLOWING_PERIOD (5e6) //ns == 5ms
#define ARM_FOLLOWING_CHECKING_STEP (4)
#define ARM_FOLLOWING_CHECKING (ARM_FOLLOWING_PERIOD * ARM_FOLLOWING_CHECKING_STEP) //ns == 20ms
#define GET_FUNC_LINE_STR() \
(std::string(__func__ ) + ":" + std::to_string(__LINE__))
#define LEFT_ARM_IP_ADDRESS "192.168.2.2"
#define RIGHT_ARM_IP_ADDRESS "192.168.2.18"
#define ARM_IP_PORT (8080)
#define TRAJECTORY_COMPLETE 1
#define TRAJECTORY_ONGOING 0
#define TRAJECTORY_ERROR -1
typedef enum {
ARM_COMMAND_TYPE_ANGLE_STEP_ON = 0,
ARM_COMMAND_TYPE_POSE_STEP_ON,
ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE,
ARM_COMMAND_TYPE_POSE_DIRECT_MOVE,
ARM_COMMAND_TYPE_ERR
} ArmCommandTypeE;
typedef enum {
POSE_POSITION_X = 0,
POSE_POSITION_Y,
POSE_POSITION_Z,
POSE_QUATERNION_X,
POSE_QUATERNION_Y,
POSE_QUATERNION_Z,
POSE_QUATERNION_W,
POSE_DIMENSION, // should be 7
} PoseDimensionE;
typedef enum {
LEFT_ARM = 0,
RIGHT_ARM,
ARM_ID_ERR
} ArmIdE;
typedef enum {
GOAL_TYPE_MOVING = 0,
GOAL_TYPE_STEPPING,
GOAL_TYPE_POSE_STEPPING,
GOAL_TYPE_ERROR
} GoalTypeE;
typedef enum {
OK = 0,
UNKNOWN_ERR = -1,
ARM_NOW_FORCE_MOVING = -2,
ARM_COLLISION = -3,
ARM_AIM_CANNOT_REACH = -4,
ARM_NOW_NO_GOAL = -5,
ARM_GOAL_CANCELLED = -6,
} ErrCodeE;
#endif // ARM_DEFINE_H

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#ifndef RM_INTERFACE_GLOBAL_H
#define RM_INTERFACE_GLOBAL_H
#ifdef __linux
#define RM_INTERFACE_EXPORT
#endif
#if _WIN32
#if defined(RM_INTERFACE_LIBRARY)
# define RM_INTERFACE_EXPORT __declspec(dllexport)
#else
# define RM_INTERFACE_EXPORT __declspec(dllexport)
#endif
#endif
#endif // RM_INTERFACE_GLOBAL_H

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#ifndef RM_VERSION_H
#define RM_VERSION_H
#ifdef __cplusplus
extern "C" {
#endif
#define SDK_VERSION ("1.1.1")
#ifdef __cplusplus
}
#endif
#endif

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cmake_minimum_required(VERSION 3.10)
project(rm_arm_control)
# 设置 C 标准
set(CMAKE_C_STANDARD 11)
# 添加忽略定义重定义警告的选项
if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
add_compile_options(-Wno-define-redefinition)
endif()
add_compile_options(-g)
set(ROS_DOMAIN_ID_STR $ENV{ROS_DOMAIN_ID})
if(NOT ROS_DOMAIN_ID_STR)
set(ROS_DOMAIN_ID_STR "0") # 未设置时默认 0
endif()
# 2. 验证是否为非负整数（用正则表达式）
if(ROS_DOMAIN_ID_STR MATCHES "^[0-9]+$")
# 是有效整数，转换为数字（用 math 命令）
math(EXPR DOMAIN_ID_NUM "${ROS_DOMAIN_ID_STR}")
else()
# 无效值，警告并使用默认 0
message(WARNING "Invalid ROS_DOMAIN_ID (${ROS_DOMAIN_ID_STR}), using default 0")
set(DOMAIN_ID_NUM 0)
endif()
# 3. 根据域 ID 判断环境
if(DOMAIN_ID_NUM EQUAL 10)
message(STATUS "Detected simulation environment (ROS_DOMAIN_ID=10)")
add_compile_definitions(SIMULATION) # 模拟环境宏
else()
message(STATUS "Detected real robot environment (ROS_DOMAIN_ID=${DOMAIN_ID_NUM})")
add_compile_definitions(REAL_ROBOT) # 实机环境宏
endif()
# 依赖
find_package(ament_cmake REQUIRED)
find_package(Eigen3 REQUIRED) # 查找Eigen3库
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)
find_package(control_msgs REQUIRED)
find_package(gjk_interface REQUIRED)
find_package(interfaces REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
include_directories(
include
${CMAKE_CURRENT_SOURCE_DIR}/../include
${EIGEN3_INCLUDE_DIRS} # 引入Eigen3的头文件路径
)
# 设置源文件
set(SOURCES
src/rm_arm_handler.cpp
src/rm_arm_node.cpp
simulator/rm_arm_simulator.cpp
simulator/trapezoidal_trajectory_kinematics.cpp
simulator/rm_driver_kinematics.cpp
src/goal_manager.cpp
driver/arm_driver.cpp
driver/rm_arm_driver.cpp
src/main.cpp
src/init_set.cpp
)
# 添加可执行文件
add_executable(rm_arm_control ${SOURCES})
ament_target_dependencies(rm_arm_control
rclcpp
rclcpp_action
geometry_msgs
sensor_msgs
trajectory_msgs
control_msgs
gjk_interface
interfaces
moveit_core
moveit_ros_planning_interface
)
# 查找库
find_library(RMAN_API_LIB NAMES api_cpp PATHS "${CMAKE_CURRENT_SOURCE_DIR}/Robotic_Arm/lib")
# 链接库
target_link_libraries(rm_arm_control ${RMAN_API_LIB})
# 如果是 UNIX 平台且不是 ARM 平台，确保动态库文件可以在运行时被找到（这一步通常不是必须的，但在某些配置下可能需要）
if(UNIX)
add_custom_command(TARGET rm_arm_control POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${CMAKE_CURRENT_SOURCE_DIR}/Robotic_Arm/lib/libapi_cpp.so"
$<TARGET_FILE_DIR:rm_arm_control>)
endif()
install(TARGETS
rm_arm_control
DESTINATION lib/${PROJECT_NAME})
# 安装第三方库到安装目录(重要)
install(DIRECTORY
${CMAKE_CURRENT_SOURCE_DIR}/Robotic_Arm/lib
DESTINATION lib/..
FILES_MATCHING PATTERN "*.so*"
)
install(
DIRECTORY launch urdf meshes # 安装 launch、urdf、meshes 目录
DESTINATION share/${PROJECT_NAME}
)
ament_package()

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Copyright 2024 realman-robotics
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

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rm_arm_control/build/CMakeCache.txt Normal file
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# This is the CMakeCache file.
# For build in directory: /home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build
# It was generated by CMake: /usr/bin/cmake
# You can edit this file to change values found and used by cmake.
# If you do not want to change any of the values, simply exit the editor.
# If you do want to change a value, simply edit, save, and exit the editor.
# The syntax for the file is as follows:
# KEY:TYPE=VALUE
# KEY is the name of a variable in the cache.
# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
# VALUE is the current value for the KEY.
########################
# EXTERNAL cache entries
########################
//Generate environment files in the CMAKE_INSTALL_PREFIX
AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
//Generate environment files in the package share folder
AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
//Generate marker file containing the parent prefix path
AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
//Replace the CMake install command with a custom implementation
// using symlinks instead of copying resources
AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
//Generate an uninstall target to revert the effects of the install
// step
AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
//The path where test results are generated
AMENT_TEST_RESULTS_DIR:PATH=/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/test_results
//Build the testing tree.
BUILD_TESTING:BOOL=ON
//Path to a program.
CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
//Path to a program.
CMAKE_AR:FILEPATH=/usr/bin/ar
//Choose the type of build, options are: None Debug Release RelWithDebInfo
// MinSizeRel ...
CMAKE_BUILD_TYPE:STRING=
//Enable/Disable color output during build.
CMAKE_COLOR_MAKEFILE:BOOL=ON
//CXX compiler
CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
//Flags used by the CXX compiler during all build types.
CMAKE_CXX_FLAGS:STRING=
//Flags used by the CXX compiler during DEBUG builds.
CMAKE_CXX_FLAGS_DEBUG:STRING=-g
//Flags used by the CXX compiler during MINSIZEREL builds.
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
//Flags used by the CXX compiler during RELEASE builds.
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the CXX compiler during RELWITHDEBINFO builds.
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
//C compiler
CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
//Flags used by the C compiler during all build types.
CMAKE_C_FLAGS:STRING=
//Flags used by the C compiler during DEBUG builds.
CMAKE_C_FLAGS_DEBUG:STRING=-g
//Flags used by the C compiler during MINSIZEREL builds.
CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
//Flags used by the C compiler during RELEASE builds.
CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the C compiler during RELWITHDEBINFO builds.
CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
//Path to a program.
CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
//Flags used by the linker during all build types.
CMAKE_EXE_LINKER_FLAGS:STRING=
//Flags used by the linker during DEBUG builds.
CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during MINSIZEREL builds.
CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during RELEASE builds.
CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
//Flags used by the linker during RELWITHDEBINFO builds.
CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//Enable/Disable output of compile commands during generation.
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=
//Install path prefix, prepended onto install directories.
CMAKE_INSTALL_PREFIX:PATH=/usr/local
//Path to a program.
CMAKE_LINKER:FILEPATH=/usr/bin/ld
//Path to a program.
CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake
//Flags used by the linker during the creation of modules during
// all build types.
CMAKE_MODULE_LINKER_FLAGS:STRING=
//Flags used by the linker during the creation of modules during
// DEBUG builds.
CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during the creation of modules during
// MINSIZEREL builds.
CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during the creation of modules during
// RELEASE builds.
CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
//Flags used by the linker during the creation of modules during
// RELWITHDEBINFO builds.
CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//Path to a program.
CMAKE_NM:FILEPATH=/usr/bin/nm
//Path to a program.
CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
//Path to a program.
CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
//Value Computed by CMake
CMAKE_PROJECT_DESCRIPTION:STATIC=
//Value Computed by CMake
CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
//Value Computed by CMake
CMAKE_PROJECT_NAME:STATIC=rm_arm_control
//Path to a program.
CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
//Path to a program.
CMAKE_READELF:FILEPATH=/usr/bin/readelf
//Flags used by the linker during the creation of shared libraries
// during all build types.
CMAKE_SHARED_LINKER_FLAGS:STRING=
//Flags used by the linker during the creation of shared libraries
// during DEBUG builds.
CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during the creation of shared libraries
// during MINSIZEREL builds.
CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during the creation of shared libraries
// during RELEASE builds.
CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
//Flags used by the linker during the creation of shared libraries
// during RELWITHDEBINFO builds.
CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//If set, runtime paths are not added when installing shared libraries,
// but are added when building.
CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
//If set, runtime paths are not added when using shared libraries.
CMAKE_SKIP_RPATH:BOOL=NO
//Flags used by the linker during the creation of static libraries
// during all build types.
CMAKE_STATIC_LINKER_FLAGS:STRING=
//Flags used by the linker during the creation of static libraries
// during DEBUG builds.
CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during the creation of static libraries
// during MINSIZEREL builds.
CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during the creation of static libraries
// during RELEASE builds.
CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
//Flags used by the linker during the creation of static libraries
// during RELWITHDEBINFO builds.
CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//Path to a program.
CMAKE_STRIP:FILEPATH=/usr/bin/strip
//If this value is on, makefiles will be generated without the
// .SILENT directive, and all commands will be echoed to the console
// during the make. This is useful for debugging only. With Visual
// Studio IDE projects all commands are done without /nologo.
CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
//The directory containing a CMake configuration file for Eigen3.
Eigen3_DIR:PATH=/usr/share/eigen3/cmake
//Path to a library.
FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND
//Path to a library.
FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/humble/lib/libfastcdr.so
//Path to a file.
FastRTPS_INCLUDE_DIR:PATH=/opt/ros/humble/include
//Path to a library.
FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND
//Path to a library.
FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/humble/lib/libfastrtps.so
//Path to a library.
OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
//Path to a file.
OPENSSL_INCLUDE_DIR:PATH=/usr/include
//Path to a library.
OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
//Arguments to supply to pkg-config
PKG_CONFIG_ARGN:STRING=
//pkg-config executable
PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
//Path to a program.
Python3_EXECUTABLE:FILEPATH=/usr/bin/python3
//Path to a library.
RMAN_API_LIB:FILEPATH=/home/zj/hivecore_robot_os/HiveCoreR1/lib/libapi_cpp.so
//Name of the computer/site where compile is being run
SITE:STRING=zj-OMEN-Gaming-Laptop-16-am0xxx
//The directory containing a CMake configuration file for TinyXML2.
TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND
//Path to a library.
_lib:FILEPATH=/opt/ros/humble/lib/libcontrol_msgs__rosidl_typesupport_fastrtps_cpp.so
//The directory containing a CMake configuration file for action_msgs.
action_msgs_DIR:PATH=/opt/ros/humble/share/action_msgs/cmake
//The directory containing a CMake configuration file for ament_cmake.
ament_cmake_DIR:PATH=/opt/ros/humble/share/ament_cmake/cmake
//The directory containing a CMake configuration file for ament_cmake_core.
ament_cmake_core_DIR:PATH=/opt/ros/humble/share/ament_cmake_core/cmake
//The directory containing a CMake configuration file for ament_cmake_export_definitions.
ament_cmake_export_definitions_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_definitions/cmake
//The directory containing a CMake configuration file for ament_cmake_export_dependencies.
ament_cmake_export_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_dependencies/cmake
//The directory containing a CMake configuration file for ament_cmake_export_include_directories.
ament_cmake_export_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_include_directories/cmake
//The directory containing a CMake configuration file for ament_cmake_export_interfaces.
ament_cmake_export_interfaces_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_interfaces/cmake
//The directory containing a CMake configuration file for ament_cmake_export_libraries.
ament_cmake_export_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_libraries/cmake
//The directory containing a CMake configuration file for ament_cmake_export_link_flags.
ament_cmake_export_link_flags_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_link_flags/cmake
//The directory containing a CMake configuration file for ament_cmake_export_targets.
ament_cmake_export_targets_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_targets/cmake
//The directory containing a CMake configuration file for ament_cmake_gen_version_h.
ament_cmake_gen_version_h_DIR:PATH=/opt/ros/humble/share/ament_cmake_gen_version_h/cmake
//The directory containing a CMake configuration file for ament_cmake_include_directories.
ament_cmake_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_include_directories/cmake
//The directory containing a CMake configuration file for ament_cmake_libraries.
ament_cmake_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_libraries/cmake
//The directory containing a CMake configuration file for ament_cmake_python.
ament_cmake_python_DIR:PATH=/opt/ros/humble/share/ament_cmake_python/cmake
//The directory containing a CMake configuration file for ament_cmake_target_dependencies.
ament_cmake_target_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_target_dependencies/cmake
//The directory containing a CMake configuration file for ament_cmake_test.
ament_cmake_test_DIR:PATH=/opt/ros/humble/share/ament_cmake_test/cmake
//The directory containing a CMake configuration file for ament_cmake_version.
ament_cmake_version_DIR:PATH=/opt/ros/humble/share/ament_cmake_version/cmake
//The directory containing a CMake configuration file for ament_index_cpp.
ament_index_cpp_DIR:PATH=/opt/ros/humble/share/ament_index_cpp/cmake
//The directory containing a CMake configuration file for builtin_interfaces.
builtin_interfaces_DIR:PATH=/opt/ros/humble/share/builtin_interfaces/cmake
//The directory containing a CMake configuration file for control_msgs.
control_msgs_DIR:PATH=/opt/ros/humble/share/control_msgs/cmake
//The directory containing a CMake configuration file for fastcdr.
fastcdr_DIR:PATH=/opt/ros/humble/lib/cmake/fastcdr
//The directory containing a CMake configuration file for fastrtps.
fastrtps_DIR:PATH=/opt/ros/humble/share/fastrtps/cmake
//The directory containing a CMake configuration file for fastrtps_cmake_module.
fastrtps_cmake_module_DIR:PATH=/opt/ros/humble/share/fastrtps_cmake_module/cmake
//The directory containing a CMake configuration file for fmt.
fmt_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/fmt
//The directory containing a CMake configuration file for foonathan_memory.
foonathan_memory_DIR:PATH=/opt/ros/humble/lib/foonathan_memory/cmake
//The directory containing a CMake configuration file for geometry_msgs.
geometry_msgs_DIR:PATH=/opt/ros/humble/share/geometry_msgs/cmake
//The directory containing a CMake configuration file for libstatistics_collector.
libstatistics_collector_DIR:PATH=/opt/ros/humble/share/libstatistics_collector/cmake
//The directory containing a CMake configuration file for libyaml_vendor.
libyaml_vendor_DIR:PATH=/opt/ros/humble/share/libyaml_vendor/cmake
//Path to a library.
pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
//Path to a library.
pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
//The directory containing a CMake configuration file for rcl.
rcl_DIR:PATH=/opt/ros/humble/share/rcl/cmake
//The directory containing a CMake configuration file for rcl_interfaces.
rcl_interfaces_DIR:PATH=/opt/ros/humble/share/rcl_interfaces/cmake
//The directory containing a CMake configuration file for rcl_logging_interface.
rcl_logging_interface_DIR:PATH=/opt/ros/humble/share/rcl_logging_interface/cmake
//The directory containing a CMake configuration file for rcl_logging_spdlog.
rcl_logging_spdlog_DIR:PATH=/opt/ros/humble/share/rcl_logging_spdlog/cmake
//The directory containing a CMake configuration file for rcl_yaml_param_parser.
rcl_yaml_param_parser_DIR:PATH=/opt/ros/humble/share/rcl_yaml_param_parser/cmake
//The directory containing a CMake configuration file for rclcpp.
rclcpp_DIR:PATH=/opt/ros/humble/share/rclcpp/cmake
//The directory containing a CMake configuration file for rcpputils.
rcpputils_DIR:PATH=/opt/ros/humble/share/rcpputils/cmake
//The directory containing a CMake configuration file for rcutils.
rcutils_DIR:PATH=/opt/ros/humble/share/rcutils/cmake
//Value Computed by CMake
rm_arm_control_BINARY_DIR:STATIC=/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build
//Value Computed by CMake
rm_arm_control_IS_TOP_LEVEL:STATIC=ON
//Value Computed by CMake
rm_arm_control_SOURCE_DIR:STATIC=/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control
//The directory containing a CMake configuration file for rmw.
rmw_DIR:PATH=/opt/ros/humble/share/rmw/cmake
//The directory containing a CMake configuration file for rmw_dds_common.
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
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clean:
$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 clean
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preinstall: all
$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
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preinstall/fast:
$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall/fast
# clear depends
depend:
$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
#=============================================================================
# Target rules for targets named uninstall
# Build rule for target.
uninstall: cmake_check_build_system
$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 uninstall
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# fast build rule for target.
uninstall/fast:
$(MAKE) $(MAKESILENT) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build
.PHONY : uninstall/fast
#=============================================================================
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@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... edit_cache"
@echo "... install"
@echo "... install/local"
@echo "... install/strip"
@echo "... list_install_components"
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# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
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.PHONY : cmake_check_build_system

14
rm_arm_control/build/ament_cmake_core/package.cmake Normal file
View File

@@ -0,0 +1,14 @@
set(_AMENT_PACKAGE_NAME "rm_arm_control")
set(rm_arm_control_VERSION "1.0.0")
set(rm_arm_control_MAINTAINER "Your Name <Ray@email.com>")
set(rm_arm_control_BUILD_DEPENDS "ament_cmake")
set(rm_arm_control_BUILDTOOL_DEPENDS )
set(rm_arm_control_BUILD_EXPORT_DEPENDS )
set(rm_arm_control_BUILDTOOL_EXPORT_DEPENDS )
set(rm_arm_control_EXEC_DEPENDS "rclcpp" "geometry_msgs" "nav_msgs" "ros2launch")
set(rm_arm_control_TEST_DEPENDS )
set(rm_arm_control_GROUP_DEPENDS )
set(rm_arm_control_MEMBER_OF_GROUPS )
set(rm_arm_control_DEPRECATED "")
set(rm_arm_control_EXPORT_TAGS)
list(APPEND rm_arm_control_EXPORT_TAGS "<build_type>ament_cmake</build_type>")

14
rm_arm_control/build/ament_cmake_core/rm_arm_controlConfig-version.cmake Normal file
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@@ -0,0 +1,14 @@
# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
set(PACKAGE_VERSION "1.0.0")
set(PACKAGE_VERSION_EXACT False)
set(PACKAGE_VERSION_COMPATIBLE False)
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_EXACT True)
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE True)
endif()

42
rm_arm_control/build/ament_cmake_core/rm_arm_controlConfig.cmake Normal file
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@@ -0,0 +1,42 @@
# generated from ament/cmake/core/templates/nameConfig.cmake.in
# prevent multiple inclusion
if(_rm_arm_control_CONFIG_INCLUDED)
# ensure to keep the found flag the same
if(NOT DEFINED rm_arm_control_FOUND)
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
set(rm_arm_control_FOUND FALSE)
elseif(NOT rm_arm_control_FOUND)
# use separate condition to avoid uninitialized variable warning
set(rm_arm_control_FOUND FALSE)
endif()
return()
endif()
set(_rm_arm_control_CONFIG_INCLUDED TRUE)
# output package information
if(NOT rm_arm_control_FIND_QUIETLY)
message(STATUS "Found rm_arm_control: 1.0.0 (${rm_arm_control_DIR})")
endif()
# warn when using a deprecated package
if(NOT "" STREQUAL "")
set(_msg "Package 'rm_arm_control' is deprecated")
# append custom deprecation text if available
if(NOT "" STREQUAL "TRUE")
set(_msg "${_msg} ()")
endif()
# optionally quiet the deprecation message
if(NOT ${rm_arm_control_DEPRECATED_QUIET})
message(DEPRECATION "${_msg}")
endif()
endif()
# flag package as ament-based to distinguish it after being find_package()-ed
set(rm_arm_control_FOUND_AMENT_PACKAGE TRUE)
# include all config extra files
set(_extras "")
foreach(_extra ${_extras})
include("${rm_arm_control_DIR}/${_extra}")
endforeach()

4
rm_arm_control/build/ament_cmake_core/stamps/ament_prefix_path.sh.stamp Normal file
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@@ -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"

14
rm_arm_control/build/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp Normal file
View File

@@ -0,0 +1,14 @@
# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
set(PACKAGE_VERSION "@PACKAGE_VERSION@")
set(PACKAGE_VERSION_EXACT False)
set(PACKAGE_VERSION_COMPATIBLE False)
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_EXACT True)
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE True)
endif()

42
rm_arm_control/build/ament_cmake_core/stamps/nameConfig.cmake.in.stamp Normal file
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@@ -0,0 +1,42 @@
# generated from ament/cmake/core/templates/nameConfig.cmake.in
# prevent multiple inclusion
if(_@PROJECT_NAME@_CONFIG_INCLUDED)
# ensure to keep the found flag the same
if(NOT DEFINED @PROJECT_NAME@_FOUND)
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
set(@PROJECT_NAME@_FOUND FALSE)
elseif(NOT @PROJECT_NAME@_FOUND)
# use separate condition to avoid uninitialized variable warning
set(@PROJECT_NAME@_FOUND FALSE)
endif()
return()
endif()
set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
# output package information
if(NOT @PROJECT_NAME@_FIND_QUIETLY)
message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
endif()
# warn when using a deprecated package
if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
set(_msg "Package '@PROJECT_NAME@' is deprecated")
# append custom deprecation text if available
if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
endif()
# optionally quiet the deprecation message
if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
message(DEPRECATION "${_msg}")
endif()
endif()
# flag package as ament-based to distinguish it after being find_package()-ed
set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
# include all config extra files
set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
foreach(_extra ${_extras})
include("${@PROJECT_NAME@_DIR}/${_extra}")
endforeach()

19
rm_arm_control/build/ament_cmake_core/stamps/package.xml.stamp Normal file
View File

@@ -0,0 +1,19 @@
<?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>rm_arm_control</name>
<version>1.0.0</version>
<description>rm_arm_control package</description>
<maintainer email="Ray@email.com">Your Name</maintainer>
<license>Apache-2.0</license>
<build_depend>ament_cmake</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>ros2launch</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

150
rm_arm_control/build/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp Normal file
View File

@@ -0,0 +1,150 @@
#!/usr/bin/env python3
# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import argparse
from collections import OrderedDict
import os
import sys
from catkin_pkg.package import parse_package_string
def main(argv=sys.argv[1:]):
"""
Extract the information from package.xml and make them accessible to CMake.
Parse the given package.xml file and
print CMake code defining several variables containing the content.
"""
parser = argparse.ArgumentParser(
description='Parse package.xml file and print CMake code defining '
'several variables',
)
parser.add_argument(
'package_xml',
type=argparse.FileType('r', encoding='utf-8'),
help='The path to a package.xml file',
)
parser.add_argument(
'outfile',
nargs='?',
help='The filename where the output should be written to',
)
args = parser.parse_args(argv)
try:
package = parse_package_string(
args.package_xml.read(), filename=args.package_xml.name)
except Exception as e:
print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
raise e
finally:
args.package_xml.close()
lines = generate_cmake_code(package)
if args.outfile:
with open(args.outfile, 'w', encoding='utf-8') as f:
for line in lines:
f.write('%s\n' % line)
else:
for line in lines:
print(line)
def get_dependency_values(key, depends):
dependencies = []
# Filter the dependencies, checking for any condition attributes
dependencies.append((key, ' '.join([
'"%s"' % str(d) for d in depends
if d.condition is None or d.evaluate_condition(os.environ)
])))
for d in depends:
comparisons = [
'version_lt',
'version_lte',
'version_eq',
'version_gte',
'version_gt']
for comp in comparisons:
value = getattr(d, comp, None)
if value is not None:
dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
'"%s"' % value))
return dependencies
def generate_cmake_code(package):
"""
Return a list of CMake set() commands containing the manifest information.
:param package: catkin_pkg.package.Package
:returns: list of str
"""
variables = []
variables.append(('VERSION', '"%s"' % package.version))
variables.append((
'MAINTAINER',
'"%s"' % (', '.join([str(m) for m in package.maintainers]))))
variables.extend(get_dependency_values('BUILD_DEPENDS',
package.build_depends))
variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
package.buildtool_depends))
variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
package.build_export_depends))
variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
package.buildtool_export_depends))
variables.extend(get_dependency_values('EXEC_DEPENDS',
package.exec_depends))
variables.extend(get_dependency_values('TEST_DEPENDS',
package.test_depends))
variables.extend(get_dependency_values('GROUP_DEPENDS',
package.group_depends))
variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
package.member_of_groups))
deprecated = [e.content for e in package.exports
if e.tagname == 'deprecated']
variables.append(('DEPRECATED',
'"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
if deprecated
else '')))
lines = []
lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
for (k, v) in variables:
lines.append('set(%s_%s %s)' % (package.name, k, v))
lines.append('set(%s_EXPORT_TAGS)' % package.name)
replaces = OrderedDict()
replaces['${prefix}/'] = ''
replaces['\\'] = '\\\\' # escape backslashes
replaces['"'] = '\\"' # prevent double quotes to end the CMake string
replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators
for export in package.exports:
export = str(export)
for k, v in replaces.items():
export = export.replace(k, v)
lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
return lines
if __name__ == '__main__':
main()

5
rm_arm_control/build/ament_cmake_core/stamps/path.sh.stamp Normal file
View File

@@ -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

112
rm_arm_control/build/ament_cmake_core/stamps/templates_2_cmake.py.stamp Normal file
View File

@@ -0,0 +1,112 @@
#!/usr/bin/env python3
# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import argparse
import os
import sys
from ament_package.templates import get_environment_hook_template_path
from ament_package.templates import get_package_level_template_names
from ament_package.templates import get_package_level_template_path
from ament_package.templates import get_prefix_level_template_names
from ament_package.templates import get_prefix_level_template_path
IS_WINDOWS = os.name == 'nt'
def main(argv=sys.argv[1:]):
"""
Extract the information about templates provided by ament_package.
Call the API provided by ament_package and
print CMake code defining several variables containing information about
the available templates.
"""
parser = argparse.ArgumentParser(
description='Extract information about templates provided by '
'ament_package and print CMake code defining several '
'variables',
)
parser.add_argument(
'outfile',
nargs='?',
help='The filename where the output should be written to',
)
args = parser.parse_args(argv)
lines = generate_cmake_code()
if args.outfile:
basepath = os.path.dirname(args.outfile)
if not os.path.exists(basepath):
os.makedirs(basepath)
with open(args.outfile, 'w') as f:
for line in lines:
f.write('%s\n' % line)
else:
for line in lines:
print(line)
def generate_cmake_code():
"""
Return a list of CMake set() commands containing the template information.
:returns: list of str
"""
variables = []
if not IS_WINDOWS:
variables.append((
'ENVIRONMENT_HOOK_LIBRARY_PATH',
'"%s"' % get_environment_hook_template_path('library_path.sh')))
else:
variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
ext = '.bat.in' if IS_WINDOWS else '.sh.in'
variables.append((
'ENVIRONMENT_HOOK_PYTHONPATH',
'"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
templates = []
for name in get_package_level_template_names():
templates.append('"%s"' % get_package_level_template_path(name))
variables.append((
'PACKAGE_LEVEL',
templates))
templates = []
for name in get_prefix_level_template_names():
templates.append('"%s"' % get_prefix_level_template_path(name))
variables.append((
'PREFIX_LEVEL',
templates))
lines = []
for (k, v) in variables:
if isinstance(v, list):
lines.append('set(ament_cmake_package_templates_%s "")' % k)
for vv in v:
lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
% (k, vv))
else:
lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
# Ensure backslashes are replaced with forward slashes because CMake cannot
# parse files with backslashes in it.
return [line.replace('\\', '/') for line in lines]
if __name__ == '__main__':
main()

1
rm_arm_control/build/ament_cmake_environment_hooks/ament_prefix_path.dsv Normal file
View File

@@ -0,0 +1 @@
prepend-non-duplicate;AMENT_PREFIX_PATH;

46
rm_arm_control/build/ament_cmake_environment_hooks/local_setup.bash Normal file
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@@ -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

2
rm_arm_control/build/ament_cmake_environment_hooks/local_setup.dsv Normal file
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@@ -0,0 +1,2 @@
source;share/rm_arm_control/environment/ament_prefix_path.sh
source;share/rm_arm_control/environment/path.sh

184
rm_arm_control/build/ament_cmake_environment_hooks/local_setup.sh Normal file
View 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
: ${AMENT_CURRENT_PREFIX:="/usr/local"}
if [ ! -d "$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 "$AMENT_CURRENT_PREFIX/share/rm_arm_control/environment/ament_prefix_path.sh"
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/rm_arm_control/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
rm_arm_control/build/ament_cmake_environment_hooks/local_setup.zsh Normal file
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@@ -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

4
rm_arm_control/build/ament_cmake_environment_hooks/package.dsv Normal file
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@@ -0,0 +1,4 @@
source;share/rm_arm_control/local_setup.bash
source;share/rm_arm_control/local_setup.dsv
source;share/rm_arm_control/local_setup.sh
source;share/rm_arm_control/local_setup.zsh

1
rm_arm_control/build/ament_cmake_environment_hooks/path.dsv Normal file
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@@ -0,0 +1 @@
prepend-non-duplicate-if-exists;PATH;bin

1
rm_arm_control/build/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/rm_arm_control Normal file
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@@ -0,0 +1 @@
rclcpp;geometry_msgs;nav_msgs;ros2launch

0
rm_arm_control/build/ament_cmake_index/share/ament_index/resource_index/packages/rm_arm_control Normal file
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1
rm_arm_control/build/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/rm_arm_control Normal file
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@@ -0,0 +1 @@
/home/zj/hivecore_robot_os/HiveCoreR1/install/arm_keyboard_input:/home/zj/hivecore_robot_os/HiveCoreR1/install/robot_bringup:/home/zj/hivecore_robot_os/HiveCoreR1/install/rm_arm_control:/opt/ros/humble

14
rm_arm_control/build/ament_cmake_package_templates/templates.cmake Normal file
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@@ -0,0 +1,14 @@
set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
set(ament_cmake_package_templates_PACKAGE_LEVEL "")
list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
set(ament_cmake_package_templates_PREFIX_LEVEL "")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")

57
rm_arm_control/build/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake Normal file
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@@ -0,0 +1,57 @@
# generated from
# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
function(ament_cmake_uninstall_target_remove_empty_directories path)
set(install_space "/usr/local")
if(install_space STREQUAL "")
message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
endif()
string(LENGTH "${install_space}" length)
string(SUBSTRING "${path}" 0 ${length} path_prefix)
if(NOT path_prefix STREQUAL install_space)
message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
endif()
if(path STREQUAL install_space)
return()
endif()
# check if directory is empty
file(GLOB files "${path}/*")
list(LENGTH files length)
if(length EQUAL 0)
message(STATUS "Uninstalling: ${path}/")
execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
# recursively try to remove parent directories
get_filename_component(parent_path "${path}" PATH)
ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
endif()
endfunction()
# uninstall files installed using the standard install() function
set(install_manifest "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/install_manifest.txt")
if(NOT EXISTS "${install_manifest}")
message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
endif()
file(READ "${install_manifest}" installed_files)
string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
foreach(installed_file ${installed_files})
if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
message(STATUS "Uninstalling: ${installed_file}")
file(REMOVE "${installed_file}")
if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
message(FATAL_ERROR "Failed to remove '${installed_file}'")
endif()
# remove empty parent folders
get_filename_component(parent_path "${installed_file}" PATH)
ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
endif()
endforeach()
# end of template
message(STATUS "Execute custom uninstall script")
# begin of custom uninstall code

137
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@@ -0,0 +1,137 @@
# Install script for directory: /home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
# Set default install directory permissions.
if(NOT DEFINED CMAKE_OBJDUMP)
set(CMAKE_OBJDUMP "/usr/bin/objdump")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control")
file(RPATH_CHECK
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control"
RPATH "")
endif()
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control" TYPE EXECUTABLE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/rm_arm_control")
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control")
file(RPATH_CHANGE
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control"
OLD_RPATH "/opt/ros/humble/lib:/home/zj/hivecore_robot_os/HiveCoreR1/lib:"
NEW_RPATH "")
if(CMAKE_INSTALL_DO_STRIP)
execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/rm_arm_control/rm_arm_control")
endif()
endif()
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control/" TYPE DIRECTORY FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/launch")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/rm_arm_control")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/rm_arm_control")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control/environment" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/ament_prefix_path.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control/environment" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/path.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/local_setup.bash")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/local_setup.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/local_setup.zsh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/local_setup.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_environment_hooks/package.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_index/share/ament_index/resource_index/packages/rm_arm_control")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control/cmake" TYPE FILE FILES
"/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_core/rm_arm_controlConfig.cmake"
"/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/ament_cmake_core/rm_arm_controlConfig-version.cmake"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/rm_arm_control" TYPE FILE FILES "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/package.xml")
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")

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