HiveCoreRD/hivecore_robot_brain
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Merge branch 'develop' of ssh://192.168.10.50:2222/HiveCoreRD/hivecore_robot_brain into develop

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NuoDaJia02
2025-11-04 22:03:11 +08:00
parent 948aba7e84 b6934ff229
commit 893bca0d2e
7 changed files with 4 additions and 105 deletions
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12
src/brain/CMakeLists.txt
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@@ -14,7 +14,6 @@ find_package(rclcpp_components REQUIRED)
# find_package(<dependency> REQUIRED)
find_package(interfaces REQUIRED)
find_package(brain_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
find_package(smacc2 REQUIRED)
find_package(smacc2_msgs REQUIRED)
@@ -51,7 +50,6 @@ ament_target_dependencies(brain_node
rclcpp_action
behaviortree_cpp
interfaces
brain_interfaces
std_msgs
smacc2
smacc2_msgs
@@ -103,7 +101,6 @@ if(BUILD_TESTING)
rclcpp
rclcpp_action
interfaces
brain_interfaces
nav2_msgs
std_srvs
tf2
@@ -158,7 +155,6 @@ if(BUILD_TESTING)
smacc2_msgs
ament_index_cpp
interfaces
brain_interfaces
nav2_msgs
std_srvs
tf2
@@ -183,7 +179,6 @@ if(BUILD_TESTING)
rclcpp_action
behaviortree_cpp
interfaces
brain_interfaces
smacc2
smacc2_msgs
ament_index_cpp
@@ -208,7 +203,6 @@ if(BUILD_TESTING)
smacc2
smacc2_msgs
interfaces
brain_interfaces
nav2_msgs
std_srvs
tf2
@@ -231,7 +225,6 @@ if(BUILD_TESTING)
rclcpp_action
behaviortree_cpp
interfaces
brain_interfaces
smacc2
smacc2_msgs
ament_index_cpp
@@ -258,7 +251,6 @@ if(BUILD_TESTING)
rclcpp_action
behaviortree_cpp
interfaces
brain_interfaces
smacc2
smacc2_msgs
ament_index_cpp
@@ -283,7 +275,7 @@ if(BUILD_TESTING)
if(TARGET ${test_name})
target_compile_definitions(${test_name} PRIVATE BRAIN_DISABLE_SM=1)
ament_target_dependencies(${test_name}
rclcpp rclcpp_action behaviortree_cpp interfaces brain_interfaces smacc2 smacc2_msgs ament_index_cpp nav2_msgs std_srvs tf2 tf2_ros tf2_geometry_msgs)
rclcpp rclcpp_action behaviortree_cpp interfaces smacc2 smacc2_msgs ament_index_cpp nav2_msgs std_srvs tf2 tf2_ros tf2_geometry_msgs)
target_include_directories(${test_name} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_link_libraries(${test_name} Boost::thread yaml-cpp)
endif()
@@ -298,7 +290,7 @@ if(BUILD_TESTING)
if(TARGET test_cerebrum_utils)
target_compile_definitions(test_cerebrum_utils PRIVATE BRAIN_DISABLE_SM=1)
ament_target_dependencies(test_cerebrum_utils
rclcpp rclcpp_action behaviortree_cpp interfaces brain_interfaces smacc2 smacc2_msgs ament_index_cpp nav2_msgs std_srvs tf2 tf2_ros tf2_geometry_msgs)
rclcpp rclcpp_action behaviortree_cpp interfaces smacc2 smacc2_msgs ament_index_cpp nav2_msgs std_srvs tf2 tf2_ros tf2_geometry_msgs)
target_include_directories(test_cerebrum_utils PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_link_libraries(test_cerebrum_utils Boost::thread yaml-cpp)
endif()

1
src/brain/package.xml
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@@ -13,7 +13,6 @@
<depend>rclcpp_components</depend>
<depend>behaviortree_cpp</depend>
<depend>interfaces</depend>
<depend>brain_interfaces</depend>
<depend>rclcpp_lifecycle</depend>
<depend>rclcpp_action</depend>
<depend>smacc2</depend>

56
src/brain_interfaces/CMakeLists.txt
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@@ -1,56 +0,0 @@
cmake_minimum_required(VERSION 3.8)
project(brain_interfaces)
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)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(interfaces REQUIRED)
set(msg_files
msg/Movej.msg
)
set(action_files
)
set(srv_files
srv/VisionDemo.srv
)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${action_files}
${srv_files}
DEPENDENCIES
std_msgs
geometry_msgs
builtin_interfaces
interfaces
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_dependencies(rosidl_default_runtime)
ament_package()

5
src/brain_interfaces/msg/Movej.msg
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@@ -1,5 +0,0 @@
float32[] joint
uint8 speed
bool block
uint8 trajectory_connect #0 代表立即规划，1 代表和下一条轨迹一起规划，当为 1 时，轨迹不会立即执行
uint8 dof

23
src/brain_interfaces/package.xml
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@@ -1,23 +0,0 @@
<?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>brain_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="root@todo.todo">root</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rosidl_default_generators</build_depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>interfaces</depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

8
src/brain_interfaces/srv/VisionDemo.srv
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@@ -1,8 +0,0 @@
string camera_position
---
std_msgs/Header header
string info
bool success
interfaces/PoseClassAndID[] objects

4
src/scripts/build.sh
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@@ -1,4 +1,4 @@
#!/bin/bash
colcon build --packages-select brain_interfaces smacc2_msgs smacc2 brain
#colcon build --packages-select brain_interfaces smacc2_msgs smacc2 brain arm_control leg_control vision_object_recg hand_control
colcon build --packages-select smacc2_msgs smacc2 brain
#colcon build --packages-select smacc2_msgs smacc2 brain arm_control leg_control vision_object_recg hand_control