gazebo sim added

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/humble/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c17",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -1,3 +1,15 @@
 {
-    "cmake.sourceDirectory": "/home/ray/ROS2Workspace/softwaresystem/RobotOS1"
+    "cmake.sourceDirectory": "/home/hivecore/ros2_ws/softwaresystem/RobotOS1",
+    "files.associations": {
+        "*.launch": "python",
+        "*.world": "xml",
+        "*.xacro": "xml",
+        "array": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "initializer_list": "cpp",
+        "regex": "cpp",
+        "utility": "cpp",
+        "valarray": "cpp"
+    }
 }

HiveCoreR0/hive_core_bot0.gv

@@ -0,0 +1,47 @@
+digraph G {
+node [shape=box];
+"base_link" [label="base_link"];
+"left_hip_pitch_link" [label="left_hip_pitch_link"];
+"left_leg_pitch_link" [label="left_leg_pitch_link"];
+"left_wheel2_link" [label="left_wheel2_link"];
+"left_wheel1_link" [label="left_wheel1_link"];
+"left_shoulder_link" [label="left_shoulder_link"];
+"left_arm1_link" [label="left_arm1_link"];
+"left_arm2_link" [label="left_arm2_link"];
+"right_hip_pitch_link" [label="right_hip_pitch_link"];
+"right_leg_pitch_link" [label="right_leg_pitch_link"];
+"right_wheel2_link" [label="right_wheel2_link"];
+"right_wheel1_link" [label="right_wheel1_link"];
+"right_shoulder_link" [label="right_shoulder_link"];
+"right_arm1_link" [label="right_arm1_link"];
+"right_arm2_link" [label="right_arm2_link"];
+node [shape=ellipse, color=blue, fontcolor=blue];
+"base_link" -> "left_hip_pitch_joint" [label="xyz: -0.06 -0.1358 -0.037269 \nrpy: -1.5708 -0.0095732 0"]
+"left_hip_pitch_joint" -> "left_hip_pitch_link"
+"left_hip_pitch_link" -> "left_leg_pitch_joint" [label="xyz: 0 0 -0.0295 \nrpy: 0 -0 0.01205"]
+"left_leg_pitch_joint" -> "left_leg_pitch_link"
+"left_leg_pitch_link" -> "left_wheel2_joint" [label="xyz: 0 0.4805 0.004 \nrpy: 3.14159 -3.30872e-24 -0.0024764"]
+"left_wheel2_joint" -> "left_wheel2_link"
+"left_hip_pitch_link" -> "left_wheel1_joint" [label="xyz: 0 0.48 0.01 \nrpy: 0 -0 0.0095732"]
+"left_wheel1_joint" -> "left_wheel1_link"
+"base_link" -> "left_shoulder_joint" [label="xyz: -0.06 -0.0878 0.36288 \nrpy: 0 -0 0"]
+"left_shoulder_joint" -> "left_shoulder_link"
+"left_shoulder_link" -> "left_arm1_joint" [label="xyz: 0 0 0.0385 \nrpy: 1.5708 4.33681e-19 -0.0074682"]
+"left_arm1_joint" -> "left_arm1_link"
+"left_arm1_link" -> "left_arm2_joint" [label="xyz: 0.020127 0.0040341 0.17817 \nrpy: -1.6062 0.0074682 4.33693e-19"]
+"left_arm2_joint" -> "left_arm2_link"
+"base_link" -> "right_hip_pitch_joint" [label="xyz: -0.06 0.1358 -0.037269 \nrpy: 1.5708 -0.0029091 0"]
+"right_hip_pitch_joint" -> "right_hip_pitch_link"
+"right_hip_pitch_link" -> "right_leg_pitch_joint" [label="xyz: 0 0 -0.0295 \nrpy: 0 0 -0.0029091"]
+"right_leg_pitch_joint" -> "right_leg_pitch_link"
+"right_leg_pitch_link" -> "right_wheel2_joint" [label="xyz: 1.9386e-05 -0.4805 0.004 \nrpy: -3.14159 -0 0"]
+"right_wheel2_joint" -> "right_wheel2_link"
+"right_hip_pitch_link" -> "right_wheel1_joint" [label="xyz: 0 -0.48 0.01 \nrpy: 0 0 -0.0029091"]
+"right_wheel1_joint" -> "right_wheel1_link"
+"base_link" -> "right_shoulder_joint" [label="xyz: -0.06 0.0878 0.36288 \nrpy: 0 -0 0"]
+"right_shoulder_joint" -> "right_shoulder_link"
+"right_shoulder_link" -> "right_arm1_joint" [label="xyz: 0 0 0.0385 \nrpy: 1.5708 -0 0"]
+"right_arm1_joint" -> "right_arm1_link"
+"right_arm1_link" -> "right_arm2_joint" [label="xyz: 0.017969 0.0026972 -0.17843 \nrpy: -1.5793 0 0"]
+"right_arm2_joint" -> "right_arm2_link"
+}

HiveCoreR0/src/hive_core_r0/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.10)
+project(hive_core_r0)
+
+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(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(arm_control_node src/arm_control_node.cpp)
+ament_target_dependencies(arm_control_node rclcpp geometry_msgs)
+
+add_executable(hiveBot1_control_node src/hiveBot1_control_node.cpp)
+ament_target_dependencies(hiveBot1_control_node rclcpp geometry_msgs)
+
+add_executable(keyboard_control_node src/keyboard_control_node.cpp)
+ament_target_dependencies(keyboard_control_node rclcpp geometry_msgs)
+
+
+install(TARGETS
+  arm_control_node
+  hiveBot1_control_node
+  keyboard_control_node
+  DESTINATION lib/${PROJECT_NAME})
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY launch urdf config world src
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

HiveCoreR0/src/hive_core_r0/LICENSE

@@ -0,0 +1,202 @@
+
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HiveCoreR0/src/hive_core_r0/config/bot0_ros2_controller.yaml

@@ -0,0 +1,73 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+    use_sim_time: true
+
+    # 关节状态广播器 - 必须配置，用于发布关节状态
+    bot0_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+      use_sim_time: true
+
+    # 关节位置控制器
+    bot0_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+    # 轮子速度控制器（已从差速控制器改为速度控制器）
+    bot0_wheel_velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+# 腿部和手臂关节位置控制器配置
+bot0_position_controller:
+  ros__parameters:
+    joints:
+      - left_hip_pitch_joint
+      - left_leg_pitch_joint
+      - right_hip_pitch_joint
+      - right_leg_pitch_joint
+      - left_shoulder_joint
+      - left_arm1_joint
+      - left_arm2_joint
+      - right_shoulder_joint
+      - right_arm1_joint
+      - right_arm2_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    # 位置控制器PID参数
+    gains:
+      left_hip_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_leg_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_hip_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_leg_pitch_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_shoulder_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_arm1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_arm2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_shoulder_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_arm1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_arm2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+    # 位置控制允许的误差范围
+    allowable_position_error: 0.1  # 弧度
+
+# 轮子速度控制器配置（替代原来的差速控制器）
+bot0_wheel_velocity_controller:
+  ros__parameters:
+    joints:
+      - left_wheel1_joint
+      - left_wheel2_joint
+      - right_wheel1_joint
+      - right_wheel2_joint
+    command_interfaces:
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+    # 速度控制器PID参数
+    gains:
+      left_wheel1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      left_wheel2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_wheel1_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+      right_wheel2_joint: {p: 1, i: 0.0, d: 0.1, i_clamp: 0.01}
+    # 速度控制允许的误差范围
+    allowable_velocity_error: 0.2  # rad/s

HiveCoreR0/src/hive_core_r0/config/bot1_ros2_controller.yaml

@@ -0,0 +1,57 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+    use_sim_time: true
+
+    # 关节状态广播器 - 必须配置，用于发布关节状态
+    bot1_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+      use_sim_time: true
+
+    # 关节位置控制器
+    bot1_position_controller:
+      type: position_controllers/JointGroupPositionController
+
+# 腿部和手臂关节位置控制器配置
+bot1_position_controller:
+  ros__parameters:
+    joints:
+      - left_leg1_joint
+      - left_wheel1_joint
+      - left_leg2_joint
+      - left_wheel2_joint
+      - right_leg1_joint
+      - right_wheel1_joint
+      - right_leg2_joint
+      - right_wheel2_joint
+      - pitch_body_joint
+      - left_shoulder_joint
+      - left_arm1_joint
+      - left_arm2_joint
+      - right_shoulder_joint
+      - right_arm1_joint
+      - right_arm2_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    # 位置控制器PID参数
+    gains:
+      left_leg1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_wheel1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_leg2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_wheel2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_leg1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_wheel1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_leg2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_wheel2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      pitch_body_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_shoulder_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_arm1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      left_arm2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_shoulder_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_arm1_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+      right_arm2_joint: {p: 10000, i: 0.0, d: 1000, i_clamp: 0.01}
+    # 位置控制允许的误差范围
+    allowable_position_error: 0.1  # 弧度

HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot0.launch.py

@@ -0,0 +1,119 @@
+import os
+import launch
+import launch_ros
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
+from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.event_handlers import OnProcessStart
+from launch.actions import TimerAction
+
+def generate_launch_description():
+    # 声明参数
+    robot_name_in_model = "HiveBot0"
+    urdf_package = 'hive_core_r0'
+    urdf_tutorial_path = get_package_share_directory(urdf_package)
+    default_world_path = os.path.join(urdf_tutorial_path, 'world', 'table.world')
+    default_model_path = urdf_tutorial_path + '/urdf/hiveBot0/hive_core_bot0.urdf.xacro'
+
+    # 声明模型路径参数
+    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
+        name='model', default_value=str(default_model_path),
+        description='URDF 的绝对路径')
+    
+    # 获取文件内容生成新的参数
+    robot_description = launch_ros.parameter_descriptions.ParameterValue(
+        launch.substitutions.Command(
+            ['xacro ', launch.substitutions.LaunchConfiguration('model')]),
+        value_type=str)
+    
+    # 声明机器人状态发布节点
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': robot_description}],
+    )
+    
+    # 启动Gazebo - 添加 paused=true 参数使仿真暂停
+    launch_gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(get_package_share_directory('gazebo_ros'), 'launch',
+            'gazebo.launch.py')
+        ]),
+        launch_arguments={
+            # 'world': default_world_path,
+            'verbose': 'true',
+        }.items()
+    )
+    
+    # 在Gazebo中生成机器人
+    spawn_entity_node = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name_in_model,  # 模型名称
+            '-topic', '/robot_description',  # 从ROS话题获取URDF
+            '-x', '0.0',  # 初始位置x
+            '-y', '0.0',  # 初始位置y
+            '-z', '0.55',  # 初始位置z (高于地面)
+            '-Y', '0.0'   # 初始朝向
+        ]
+    )
+    
+    # 加载并激活 load_joint_state_controller 控制器
+    load_joint_state_controller = launch.actions.ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+            'bot0_joint_state_broadcaster'],
+        output='screen'
+    )
+
+    # 加载并激活 load_bot0_position_controller 控制器
+    load_bot0_position_controller = launch.actions.ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active','bot0_position_controller'], 
+        output='screen')
+    
+    load_bot0_wheel_velocity_controller = launch.actions.ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active','bot0_wheel_velocity_controller'], 
+        output='screen')
+
+    action_node_arm_control = launch_ros.actions.Node(
+        package='hive_core_r0',
+        executable='arm_control_node',
+        name='arm_control_node',
+        output='screen'
+    )
+    
+    return LaunchDescription([
+        action_declare_arg_mode_path,
+        
+        # 先启动Gazebo
+        launch_gazebo,
+        
+        # 然后启动状态发布器
+        robot_state_publisher_node,
+        
+        # 延迟后生成机器人（确保Gazebo完全启动）
+        TimerAction(
+            period= 5.0, 
+            actions=[spawn_entity_node]
+        ),
+
+        # 事件动作，当加载机器人结束后执行    
+        launch.actions.RegisterEventHandler(
+            event_handler=launch.event_handlers.OnProcessExit(
+                target_action=spawn_entity_node,
+                on_exit=[load_joint_state_controller, load_bot0_position_controller, load_bot0_wheel_velocity_controller],)
+            ),
+
+        launch.actions.RegisterEventHandler(
+        event_handler=launch.event_handlers.OnProcessExit(
+            target_action=load_bot0_position_controller,
+            on_exit=[action_node_arm_control],)
+            ),
+
+    ])

HiveCoreR0/src/hive_core_r0/launch/gazebo_sim_bot1.launch.py

@@ -0,0 +1,140 @@
+import os
+import launch
+import launch_ros
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, RegisterEventHandler
+from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.event_handlers import OnProcessStart
+from launch.actions import TimerAction
+
+def generate_launch_description():
+    # 声明参数
+    robot_name_in_model = "HiveBot0"
+    urdf_package = 'hive_core_r0'
+    urdf_tutorial_path = get_package_share_directory(urdf_package)
+    default_model_path = urdf_tutorial_path + '/urdf/hiveBot1/hive_core_bot1.urdf.xacro'
+    default_world_path = os.path.join(urdf_tutorial_path, 'world', 'empty.world')
+
+    # 声明模型路径参数
+    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
+        name='model', default_value=str(default_model_path),
+        description='URDF 的绝对路径')
+    
+    # 获取文件内容生成新的参数
+    robot_description = launch_ros.parameter_descriptions.ParameterValue(
+        launch.substitutions.Command(
+            ['xacro ', launch.substitutions.LaunchConfiguration('model')]),
+        value_type=str)
+    
+    # 声明机器人状态发布节点
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': robot_description}],
+    )
+
+    # 启动Gazebo - 添加 paused=true 参数使仿真暂停
+    launch_gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(get_package_share_directory('gazebo_ros'), 'launch',
+            'gazebo.launch.py')
+        ]),
+        launch_arguments={
+            'world': default_world_path,
+            'verbose': 'true',
+        }.items()
+    )
+    
+    # 在Gazebo中生成机器人
+    spawn_entity_node = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name_in_model,  # 模型名称
+            '-topic', '/robot_description',  # 从ROS话题获取URDF
+            '-x', '0.0',  # 初始位置x
+            '-y', '0.0',  # 初始位置y
+            '-z', '0.45',  # 初始位置z (高于地面)
+            '-Y', '0.0'   # 初始朝向
+        ]
+    )
+
+    # 1. 启动controller_manager（通常由gazebo_ros2_control自动启动，若未启动则显式添加）
+    controller_manager_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[
+            {'robot_description': robot_description},
+            os.path.join(urdf_tutorial_path, 'config', 'bot1_ros2_controller.yaml')  # 显式指定配置文件
+        ],
+        output="screen"
+    )
+    
+    # 加载并激活 load_joint_state_controller 控制器
+    load_joint_state_controller = TimerAction(
+        period=3.0,  # 延迟3秒，等待初始化
+        actions=[ExecuteProcess(
+            cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 
+                'bot1_joint_state_broadcaster'],
+            output='screen'
+        )]
+    )
+
+    # 加载并激活 load_bot0_position_controller 控制器
+    load_bot1_position_controller = TimerAction(
+        period=2.0,  # 延迟2秒
+        actions=[ExecuteProcess(
+            cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 
+                'bot1_position_controller'],
+            output='screen'
+        )]
+    )
+
+
+    action_node_hiveBot1_control = launch_ros.actions.Node(
+        package='hive_core_r0',
+        executable='hiveBot1_control_node',
+        name='hiveBot1_control_node',
+        output='screen'
+    )
+
+    # 4. 延迟启动控制节点（在位置控制器加载后）
+    start_control_node = TimerAction(
+        period=2.0,
+        actions=[action_node_hiveBot1_control]
+    )
+
+    keyboard_control_node = launch_ros.actions.Node(
+        package='hive_core_r0',
+        executable='keyboard_control_node',
+        name='keyboard_control_node',
+        output='screen'
+    )
+    # 5. 延迟启动键盘控制节点（在控制节点启动后）
+    start_keyboard_control_node = TimerAction(
+        period=2.0,
+        actions=[keyboard_control_node]
+    )
+    
+    # 在LaunchDescription中按顺序添加
+    return LaunchDescription([
+        action_declare_arg_mode_path,
+        launch_gazebo,
+        robot_state_publisher_node,
+        # 延迟后生成机器人（确保Gazebo完全启动）
+        TimerAction(
+            period= 5.0, 
+            actions=[spawn_entity_node]
+        ),
+        controller_manager_node,  # 显式启动控制器管理器
+        load_joint_state_controller,
+        load_bot1_position_controller,
+        start_control_node,
+        # start_keyboard_control_node,
+    ])

HiveCoreR0/src/hive_core_r0/package.xml

@@ -0,0 +1,18 @@
+<?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>hive_core_r0</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ray@hivecore.cn">hivecore</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

HiveCoreR0/src/hive_core_r0/src/arm_control_node.cpp

@@ -0,0 +1,116 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64_multi_array.hpp"
+#include <cmath>
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+class ArmSineMotionNode : public rclcpp::Node
+{
+public:
+    ArmSineMotionNode() : Node("arm_sine_motion_node")
+    {
+        // 1. 声明并获取参数（振幅默认50度，频率默认0.5Hz）
+        this->declare_parameter("amplitude_deg", 50.0);  // 振幅（度）
+        this->declare_parameter("frequency", 0.5);       // 频率（Hz）
+        this->declare_parameter("control_period_ms", 1); // 控制周期（毫秒，默认20ms=50Hz）
+
+        // 2. 读取参数并转换单位（度→弧度）
+        double amplitude_deg = this->get_parameter("amplitude_deg").as_double();
+        amplitude_rad_ = amplitude_deg * M_PI / 180.0;  // 50度→弧度
+        frequency_ = this->get_parameter("frequency").as_double();
+        int period_ms = this->get_parameter("control_period_ms").as_int();
+
+        // 3. 手臂关节在控制器指令数组中的索引（对应joints配置顺序）
+        // 控制器joints顺序：[0-3腿部, 4-9手臂]
+        arm_joint_indices_ = {4, 5, 6, 7, 8, 9};  // 6个手臂关节索引
+        total_joints_ = 10;  // 控制器总关节数（4腿部+6手臂）
+
+        // 4. 创建发布者（发送位置指令到位置控制器）
+        cmd_pub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>(
+            "/bot0_position_controller/commands", 
+            10
+        );
+
+        // 5. 创建定时器（周期性发送指令）
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(period_ms),
+            std::bind(&ArmSineMotionNode::timer_callback, this)
+        );
+
+        // 6. 记录起始时间（用于计算正弦运动相位）
+        start_time_ = this->now();
+        RCLCPP_INFO(this->get_logger(), "手臂正弦运动节点启动（振幅50度，频率%.2fHz）", frequency_);
+    }
+
+    void RestJoint()
+    {
+        auto reset_msg = std_msgs::msg::Float64MultiArray();
+        reset_msg.data.resize(10, 0.0);
+        cmd_pub_->publish(reset_msg);
+    }
+
+private:
+    void timer_callback()
+    {
+        // 1. 计算当前运动时间（秒）
+        rclcpp::Duration elapsed = this->now() - start_time_;
+        double current_time = elapsed.seconds();
+
+        // 2. 计算正弦位置：y = A*sin(2πft)
+        // A=振幅（弧度），f=频率（Hz），t=时间（秒）
+        double sine_pos = amplitude_rad_ * std::sin(2 * M_PI * frequency_ * current_time);
+
+        // 3. 构建指令数组（10个关节：腿部保持0，手臂按正弦运动）
+        auto cmd_msg = std_msgs::msg::Float64MultiArray();
+        cmd_msg.data.resize(total_joints_, 0.0);  // 初始化所有关节为0
+
+        // 4. 为手臂关节赋值正弦位置
+        // for (size_t i = 0; i < arm_joint_indices_.size(); ++i) {
+        //     int joint_idx = arm_joint_indices_[i];
+        //     cmd_msg.data[joint_idx] = 0;//sine_pos;  // 所有手臂关节同步运动
+        // }
+
+        for (int i = 0; i < total_joints_; ++i) {
+            // int joint_idx = arm_joint_indices_[i];
+            if (i == 1 || i == 3)
+            {
+                cmd_msg.data[i] = sine_pos * 2;
+            }
+            else
+            {
+                cmd_msg.data[i] = sine_pos;  // 所有手臂关节同步运动
+            }
+        }
+        
+        cmd_msg.data.resize(total_joints_, 0.0);  // 初始化所有关节为0
+
+        // 5. 发送指令
+        cmd_pub_->publish(cmd_msg);
+    }
+
+    // 成员变量
+    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr cmd_pub_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Time start_time_;  // 起始时间
+    double amplitude_rad_;     // 振幅（弧度）
+    double frequency_;         // 频率（Hz）
+    std::vector<int> arm_joint_indices_;  // 手臂关节索引
+    int total_joints_;         // 总关节数
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<ArmSineMotionNode>();
+
+    // 运行节点（按Ctrl+C退出）
+    rclcpp::spin(node);
+
+    // 退出时发送复位指令（所有关节回0）
+    node->RestJoint();
+    RCLCPP_INFO(node->get_logger(), "节点退出，发送复位指令");
+
+    rclcpp::shutdown();
+    return 0;
+}

HiveCoreR0/src/hive_core_r0/src/hiveBot1_control_node.cpp

@@ -0,0 +1,336 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64_multi_array.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include <cmath>
+#include <chrono>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+using namespace std::chrono_literals;
+
+// 键盘输入处理函数（非阻塞模式）
+int kbhit()
+{
+    struct termios oldt, newt;
+    int ch;
+    int oldf;
+
+    tcgetattr(STDIN_FILENO, &oldt);
+    newt = oldt;
+    newt.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
+
+    ch = getchar();
+
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+    fcntl(STDIN_FILENO, F_SETFL, oldf);
+
+    if(ch != EOF)
+    {
+        ungetc(ch, stdin);
+        return 1;
+    }
+
+    return 0;
+}
+
+class RobotPhaseMotionNode : public rclcpp::Node
+{
+public:
+    RobotPhaseMotionNode() : Node("robot_phase_motion_node")
+    {
+        // 声明并获取参数
+        this->declare_parameter("leg_target_deg", 0.0);       // 腿部目标角度（度）
+        this->declare_parameter("arm_amplitude_deg", 30.0);    // 手臂摆动振幅（度）
+        this->declare_parameter("arm_frequency", 0.5);         // 手臂摆动频率（Hz）
+        this->declare_parameter("control_period_ms", 10);      // 控制周期（毫秒）
+        this->declare_parameter("wheel_radius", 0.05);         // 轮子半径（米）
+        this->declare_parameter("wheel_separation", 0.3);      // 轮距（米）
+        this->declare_parameter("linear_speed", 0.2);          // 线速度（m/s）
+        this->declare_parameter("angular_speed", 0.5);         // 角速度（rad/s）
+
+        // 读取参数并转换单位
+        double leg_target_deg = this->get_parameter("leg_target_deg").as_double();
+        leg_target_rad_ = leg_target_deg * M_PI / 180.0;
+        
+        double arm_amplitude_deg = this->get_parameter("arm_amplitude_deg").as_double();
+        arm_amplitude_rad_ = arm_amplitude_deg * M_PI / 180.0;
+        
+        arm_frequency_ = this->get_parameter("arm_frequency").as_double();
+        int period_ms = this->get_parameter("control_period_ms").as_int();
+        wheel_radius_ = this->get_parameter("wheel_radius").as_double();
+        wheel_separation_ = this->get_parameter("wheel_separation").as_double();
+        linear_speed_ = this->get_parameter("linear_speed").as_double();
+        angular_speed_ = this->get_parameter("angular_speed").as_double();
+        joint_directions_ = {1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};  // 关节方向
+
+        total_joints_ = 15;  // 总关节数
+        
+        // 关节索引定义
+        leg_joint_indices_ = {0, 2, 4, 6};  // 腿部关节索引
+        arm_joint_indices_ = {9, 10, 11, 12, 13};  // 手臂关节索引
+        wheel_joint_indices_ = {1,  5};  // 轮子关节索引（left_wheel1, right_wheel1 ）两个主动轮
+        wheel_joint_directions_ = {-1, 1};  // 轮子方向
+
+        // 初始化轮子目标角度
+        wheel_targets_.resize(2, 0.0);
+
+        // 创建发布者
+        cmd_pub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>(
+            "/bot1_position_controller/commands", 10
+        );
+
+        // 创建订阅者（接收来自速度指令）
+        twist_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
+            "/cmd_vel", 10,
+            std::bind(&RobotPhaseMotionNode::twist_callback, this, std::placeholders::_1)
+        );
+
+        // 创建定时器
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(period_ms),
+            std::bind(&RobotPhaseMotionNode::timer_callback, this)
+        );
+
+        // 记录起始时间
+        start_time_ = this->now();
+        last_time_ = this->now();
+
+        // 打印控制说明
+        print_help();
+        RCLCPP_INFO(this->get_logger(), "机器人分阶段运动节点启动（含轮子控制）");
+    }
+
+    // 关节复位
+    void resetJoints()
+    {
+        auto reset_msg = std_msgs::msg::Float64MultiArray();
+        reset_msg.data.resize(total_joints_, 0.0);
+        cmd_pub_->publish(reset_msg);
+    }
+
+private:
+    void print_help()
+    {
+        RCLCPP_INFO(this->get_logger(), "键盘控制说明:");
+        RCLCPP_INFO(this->get_logger(), "  w : 前进");
+        RCLCPP_INFO(this->get_logger(), "  s : 后退");
+        RCLCPP_INFO(this->get_logger(), "  a : 左转");
+        RCLCPP_INFO(this->get_logger(), "  d : 右转");
+        RCLCPP_INFO(this->get_logger(), "  x : 停止");
+        RCLCPP_INFO(this->get_logger(), "  q : 退出");
+    }
+
+    void twist_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
+    {
+        // 接收外部速度指令
+        linear_x_ = msg->linear.x;
+        angular_z_ = msg->angular.z;
+    }
+
+    void timer_callback()
+    {
+        // 处理键盘输入
+        handle_keyboard_input();
+
+        // 计算时间差
+        rclcpp::Time current_time = this->now();
+        rclcpp::Duration dt = current_time - last_time_;
+        double dt_sec = dt.seconds();
+        last_time_ = current_time;
+
+        // 构建指令数组
+        auto cmd_msg = std_msgs::msg::Float64MultiArray();
+        cmd_msg.data.resize(total_joints_, 0.0);
+
+        // 分阶段控制腿部和手臂
+        double phase_time = (current_time - start_time_).seconds();
+        handle_phase_motion(cmd_msg, phase_time);
+
+        // 计算并设置轮子角度
+        handle_wheel_control(cmd_msg, dt_sec);
+
+        // 发送指令
+        cmd_pub_->publish(cmd_msg);
+    }
+
+    void handle_phase_motion(std_msgs::msg::Float64MultiArray& cmd_msg, double current_time)
+    {
+        // 第一阶段：前5秒，腿部关节缓慢张开
+        if (current_time <= 5.0)
+        {
+            double progress = current_time / 5.0;
+            double current_leg_angle = leg_target_rad_ * progress;
+            
+            // 设置腿部关节角度
+            for (int idx : leg_joint_indices_)
+            {
+                if (idx == 0 || idx == 4)  // 左腿1、左腿2关节
+                {
+                    cmd_msg.data[idx] = -current_leg_angle;
+                }
+                else
+                {
+                    cmd_msg.data[idx] = current_leg_angle;
+                }
+            }
+            
+            // 手臂保持初始位置
+            for (int idx : arm_joint_indices_)
+            {
+                cmd_msg.data[idx] = 0.0;
+            }
+            
+            if (current_time >= 4.9 && !phase1_notified_)
+            {
+                RCLCPP_INFO(this->get_logger(), "第一阶段即将结束，准备进入手臂摆动阶段");
+                phase1_notified_ = true;
+            }
+        }
+        // 第二阶段：5秒后，双臂做摆手动作
+        else
+        {
+            // 腿部保持在目标角度
+            for (int idx : leg_joint_indices_)
+            {
+                if (idx == 0 || idx == 4)  // 左腿1、左腿2关节
+                {
+                    cmd_msg.data[idx] = -leg_target_rad_;
+                }
+                else
+                {
+                    cmd_msg.data[idx] = leg_target_rad_;
+                }
+            }
+            
+            // 计算手臂摆动角度
+            double arm_phase_time = current_time - 5.0;
+            double arm_angle = arm_amplitude_rad_ * std::sin(2 * M_PI * arm_frequency_ * arm_phase_time);
+            
+            // 设置手臂关节角度（左右臂对称）
+            for (size_t i = 0; i < arm_joint_indices_.size(); ++i)
+            {
+                if (i >= arm_joint_indices_.size() / 2)
+                {
+                    cmd_msg.data[arm_joint_indices_[i]] = -arm_angle;
+                }
+                else
+                {
+                    cmd_msg.data[arm_joint_indices_[i]] = arm_angle;
+                }
+
+                cmd_msg.data[arm_joint_indices_[i]] = 0;
+            }
+        }
+    }
+
+    void handle_wheel_control(std_msgs::msg::Float64MultiArray& cmd_msg, double dt_sec)
+    {
+        // 计算左右轮目标线速度
+        double left_speed = linear_x_ + (angular_z_ * wheel_separation_) / 2.0;
+        double right_speed = linear_x_ - (angular_z_ * wheel_separation_) / 2.0;
+
+        // 计算轮子角速度（rad/s）
+        double left_omega = left_speed / wheel_radius_;
+        double right_omega = right_speed / wheel_radius_;
+
+        // 积分计算目标角度（弧度）
+        wheel_targets_[0] += left_omega * dt_sec;  // left_wheel1
+        wheel_targets_[1] += right_omega * dt_sec; // right_wheel1
+
+        // 赋值轮子目标角度到指令数组
+        for (size_t i = 0; i < wheel_joint_indices_.size(); ++i)
+        {
+            cmd_msg.data[wheel_joint_indices_[i]] = wheel_joint_directions_[i] * wheel_targets_[i];
+        }
+    }
+
+    void handle_keyboard_input()
+    {
+        if(kbhit())
+        {
+            char key = getchar();
+            switch(key)
+            {
+                case 'w':  // 前进
+                    linear_x_ = linear_speed_;
+                    angular_z_ = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "前进");
+                    break;
+                case 's':  // 后退
+                    linear_x_ = -linear_speed_;
+                    angular_z_ = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "后退");
+                    break;
+                case 'a':  // 左转
+                    linear_x_ = 0.0;
+                    angular_z_ = angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "左转");
+                    break;
+                case 'd':  // 右转
+                    linear_x_ = 0.0;
+                    angular_z_ = -angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "右转");
+                    break;
+                case 'x':  // 停止
+                    linear_x_ = 0.0;
+                    angular_z_ = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "停止");
+                    break;
+                case 'q':  // 退出
+                    RCLCPP_INFO(this->get_logger(), "退出控制");
+                    resetJoints();
+                    rclcpp::shutdown();
+                    exit(0);
+                    break;
+                default:
+                    print_help();
+                    break;
+            }
+        }
+    }
+
+    // 成员变量
+    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr cmd_pub_;
+    rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr twist_sub_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Time start_time_;
+    rclcpp::Time last_time_;
+    
+    // 运动参数
+    double leg_target_rad_;       // 腿部目标角度（弧度）
+    double arm_amplitude_rad_;    // 手臂摆动振幅（弧度）
+    double arm_frequency_;        // 手臂摆动频率（Hz）
+    int total_joints_;            // 总关节数
+    bool phase1_notified_ = false; // 第一阶段结束提示标记
+    
+    // 关节索引
+    std::vector<int> leg_joint_indices_;  // 腿部关节索引
+    std::vector<int> arm_joint_indices_;  // 手臂关节索引
+    std::vector<int> wheel_joint_indices_; // 轮子关节索引
+    std::vector<int> joint_directions_;   // 关节方向
+    std::vector<int> wheel_joint_directions_; // 轮子关节方向
+    
+    // 轮子控制相关
+    double wheel_radius_;         // 轮子半径（米）
+    double wheel_separation_;     // 轮距（米）
+    std::vector<double> wheel_targets_;   // 轮子目标角度（弧度）
+    double linear_x_ = 0.0;       // 线速度（m/s）
+    double angular_z_ = 0.0;      // 角速度（rad/s）
+    double linear_speed_;         // 最大线速度（m/s）
+    double angular_speed_;        // 最大角速度（rad/s）
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<RobotPhaseMotionNode>();
+    rclcpp::spin(node);
+    node->resetJoints();
+    RCLCPP_INFO(node->get_logger(), "节点退出，发送复位指令");
+    rclcpp::shutdown();
+    return 0;
+}

HiveCoreR0/src/hive_core_r0/src/keyboard_control_node.cpp

@@ -0,0 +1,140 @@
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <chrono>
+
+using namespace std::chrono_literals;
+
+// 键盘输入处理函数（非阻塞模式）
+int kbhit()
+{
+    struct termios oldt, newt;
+    int ch;
+    int oldf;
+
+    tcgetattr(STDIN_FILENO, &oldt);
+    newt = oldt;
+    newt.c_lflag &= ~(ICANON | ECHO);
+    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
+    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
+
+    ch = getchar();
+
+    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+    fcntl(STDIN_FILENO, F_SETFL, oldf);
+
+    if(ch != EOF)
+    {
+        ungetc(ch, stdin);
+        return 1;
+    }
+
+    return 0;
+}
+
+class KeyboardControlNode : public rclcpp::Node
+{
+public:
+    KeyboardControlNode() : Node("keyboard_control_node")
+    {
+        // 声明参数：移动速度、旋转速度
+        this->declare_parameter("linear_speed", 0.2);   // 线速度（m/s）
+        this->declare_parameter("angular_speed", 0.5);  // 角速度（rad/s）
+
+        // 读取参数
+        linear_speed_ = this->get_parameter("linear_speed").as_double();
+        angular_speed_ = this->get_parameter("angular_speed").as_double();
+
+        // 创建发布者（发送速度指令）
+        twist_pub_ = this->create_publisher<geometry_msgs::msg::Twist>(
+            "/cmd_vel", 10
+        );
+
+        // 打印控制说明
+        print_help();
+
+        // 创建定时器（周期性检查键盘输入）
+        timer_ = this->create_wall_timer(
+            50ms,  // 20Hz检查频率
+            std::bind(&KeyboardControlNode::timer_callback, this)
+        );
+    }
+
+private:
+    void print_help()
+    {
+        RCLCPP_INFO(this->get_logger(), "键盘控制说明:");
+        RCLCPP_INFO(this->get_logger(), "  w : 前进");
+        RCLCPP_INFO(this->get_logger(), "  s : 后退");
+        RCLCPP_INFO(this->get_logger(), "  a : 左转");
+        RCLCPP_INFO(this->get_logger(), "  d : 右转");
+        RCLCPP_INFO(this->get_logger(), "  x : 停止");
+        RCLCPP_INFO(this->get_logger(), "  q : 退出");
+    }
+
+    void timer_callback()
+    {
+        geometry_msgs::msg::Twist twist_msg;
+
+        if(kbhit())
+        {
+            char key = getchar();
+            switch(key)
+            {
+                case 'w':  // 前进
+                    twist_msg.linear.x = linear_speed_;
+                    twist_msg.angular.z = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "前进");
+                    break;
+                case 's':  // 后退
+                    twist_msg.linear.x = -linear_speed_;
+                    twist_msg.angular.z = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "后退");
+                    break;
+                case 'a':  // 左转
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "左转");
+                    break;
+                case 'd':  // 右转
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = -angular_speed_;
+                    RCLCPP_INFO(this->get_logger(), "右转");
+                    break;
+                case 'x':  // 停止
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = 0.0;
+                    RCLCPP_INFO(this->get_logger(), "停止");
+                    break;
+                case 'q':  // 退出
+                    RCLCPP_INFO(this->get_logger(), "退出控制");
+                    rclcpp::shutdown();
+                    return;
+                default:
+                    twist_msg.linear.x = 0.0;
+                    twist_msg.angular.z = 0.0;
+                    print_help();
+                    break;
+            }
+            twist_pub_->publish(twist_msg);
+        }
+    }
+
+    // 成员变量
+    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr twist_pub_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    double linear_speed_;   // 线速度（m/s）
+    double angular_speed_;  // 角速度（rad/s）
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<KeyboardControlNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/bot0.ros2_control.xacro

@@ -0,0 +1,165 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- 宏定义：ros2_control硬件接口配置（适配位置控制器和轮子速度控制器） -->
+  <xacro:macro name="bot0_ros2_control">
+    <!-- 1. ros2_control系统配置：定义所有关节的控制接口 -->
+    <ros2_control name="Bot0GazeboSystem" type="system">
+      <!-- 硬件插件：关联Gazebo仿真 -->
+      <hardware>
+        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+
+      <!-- 2. 腿部+手臂关节（位置控制接口，对应bot0_position_controller） -->
+      <!-- 2.1 腿部关节 -->
+      <joint name="left_hip_pitch_joint">
+        <command_interface name="position">  <!-- 位置控制器的命令接口 -->
+          <param name="min">-1.0</param>    <!-- 对应关节限位（弧度） -->
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />  <!-- 反馈接口：位置 -->
+        <state_interface name="velocity" />  <!-- 反馈接口：速度 -->
+        <state_interface name="effort" />    <!-- 反馈接口：力（用于调试） -->
+      </joint>
+
+      <joint name="left_leg_pitch_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_hip_pitch_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_leg_pitch_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <!-- 2.2 手臂关节 -->
+      <joint name="left_shoulder_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="left_arm1_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="left_arm2_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_shoulder_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_arm1_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_arm2_joint">
+        <command_interface name="position">
+          <param name="min">-1.0</param>
+          <param name="max">1.0</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <!-- 3. 车轮关节（速度控制接口，对应bot0_wheel_velocity_controller） -->
+      <joint name="left_wheel1_joint">
+        <command_interface name="velocity">  <!-- 速度控制器的命令接口 -->
+          <param name="min">-50</param>      <!-- 对应关节速度限位（rad/s） -->
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />  <!-- 反馈接口：位置 -->
+        <state_interface name="velocity" />  <!-- 反馈接口：速度 -->
+        <state_interface name="effort" />    <!-- 反馈接口：力 -->
+      </joint>
+
+      <joint name="left_wheel2_joint">
+        <command_interface name="velocity">
+          <param name="min">-50</param>
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_wheel1_joint">
+        <command_interface name="velocity">
+          <param name="min">-50</param>
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+
+      <joint name="right_wheel2_joint">
+        <command_interface name="velocity">
+          <param name="min">-50</param>
+          <param name="max">50</param>
+        </command_interface>
+        <state_interface name="position" />
+        <state_interface name="velocity" />
+        <state_interface name="effort" />
+      </joint>
+    </ros2_control>
+
+    <!-- 4. Gazebo插件配置：关联控制器参数文件 -->
+    <gazebo>
+      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <!-- 加载控制器配置文件（路径需替换为你的实际路径） -->
+        <parameters>$(find hive_core_r0)/config/bot0_ros2_controller.yaml</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_joint.xacro

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="generic_joint" params="joint_name type parent child
+                                          origin_xyz origin_rpy axis
+                                          limit_lower limit_upper effort velocity">
+    <joint name="${joint_name}" type="${type}">
+      <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+      <parent link="${parent}" />
+      <child link="${child}" />
+      <axis xyz="${axis}" />
+      <limit lower="${limit_lower}" upper="${limit_upper}" 
+             effort="${effort}" velocity="${velocity}" />
+    </joint>
+  </xacro:macro>
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/generic_link.xacro

@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="generic_link" params="link_name mesh_file mass 
+                                            inertia_ixx inertia_ixy inertia_ixz
+                                            inertia_iyy inertia_iyz inertia_izz
+                                            origin_xyz origin_rpy color_rgba enable_collision">
+        <link name="${link_name}">
+        <!-- 惯性参数 -->
+        <inertial>
+            <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+            <mass value="${mass}" />
+            <inertia ixx="${inertia_ixx}" ixy="${inertia_ixy}" ixz="${inertia_ixz}"
+                    iyy="${inertia_iyy}" iyz="${inertia_iyz}" izz="${inertia_izz}" />
+        </inertial>
+        <!-- 可视化模型 -->
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+            <mesh filename="${mesh_file}" />
+            </geometry>
+            <material name="${link_name}_material">
+            <color rgba="${color_rgba}" />
+            </material>
+        </visual>
+        <!-- 碰撞模型（与可视化模型一致） -->
+        <!-- 条件生成碰撞体：仅当enable_collision=true时添加 -->
+        <xacro:if value="${enable_collision}">
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <cylinder radius="0.05" length="0.03"/>
+                </geometry>
+                <material name="blue">
+                    <color rgba="0.1 0.1 1.0 0.5" />
+                </material>
+            </collision>
+        </xacro:if>
+
+        </link>
+
+        <!-- 仅当启用碰撞时，添加碰撞物理参数 -->
+        <xacro:if value="${enable_collision}">
+            <gazebo reference="${link_name}">
+                <collision>
+                    <surface>
+                        <contact>
+                            <ode>
+                                <kp>1e3</kp>          <!-- 刚度：1e6~1e8（根据质量调整） -->
+                                <kd>1e2</kd>          <!-- 阻尼：与kp比例1:100左右 -->
+                                <mu1>0.8</mu1>        <!-- 静摩擦系数：0.5~1.0 -->
+                                <mu2>0.8</mu2>        <!-- 动摩擦系数：与mu1接近 -->
+                                <min_depth>0.001</min_depth>  <!-- 允许微小穿透，减少抖动 -->
+                            </ode>
+                        </contact>
+                        <bounce>
+                            <restitution_coefficient>0.0</restitution_coefficient>  <!-- 反弹系数0 -->
+                            <threshold>10000.0</threshold>  <!-- 阈值设大，确保所有碰撞都不反弹 -->
+                        </bounce>
+                    </surface>
+                </collision>
+            </gazebo>
+        </xacro:if>
+
+    </xacro:macro>
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf

@@ -3,13 +3,7 @@
      Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
-  name="robot3">
-  <mujoco>
-    <compiler 
-      meshdir="/home/mrji/mujoco_learning/robot3/meshes" 
-      balanceinertia="true" 
-      discardvisual="false" />
-  </mujoco>
+  name="hive_core_bot0">
 
   <link
     name="base_link">
@@ -33,7 +27,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/base_link.STL" />
+          filename="package://urdf/meshes/meshes/base_link.STL" />
       </geometry>
       <material
         name="">
@@ -47,7 +41,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/base_link.STL" />
+          filename="package://urdf/meshes/meshes/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -73,7 +67,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_hip_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -87,7 +81,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_hip_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -131,7 +125,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_leg_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -145,7 +139,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/left_leg_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -189,7 +183,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel2_link.STL" />
       </geometry>
       <material
         name="">
@@ -203,7 +197,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel2_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -247,7 +241,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel1_link.STL" />
       </geometry>
       <material
         name="">
@@ -261,7 +255,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_wheel1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -305,7 +299,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_hip_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -319,7 +313,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_hip_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_hip_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -363,7 +357,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_leg_pitch_link.STL" />
       </geometry>
       <material
         name="">
@@ -377,7 +371,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_leg_pitch_link.STL" />
+          filename="package://urdf/meshes/meshes/right_leg_pitch_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -421,7 +415,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel2_link.STL" />
       </geometry>
       <material
         name="">
@@ -435,7 +429,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel2_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -479,7 +473,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel1_link.STL" />
       </geometry>
       <material
         name="">
@@ -493,7 +487,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_wheel1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_wheel1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -537,7 +531,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/left_shoulder_link.STL" />
       </geometry>
       <material
         name="">
@@ -551,7 +545,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/left_shoulder_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -595,7 +589,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm1_link.STL" />
       </geometry>
       <material
         name="">
@@ -609,7 +603,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -653,7 +647,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm2_link.STL" />
       </geometry>
       <material
         name="">
@@ -667,7 +661,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/left_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/left_arm2_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -711,7 +705,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/right_shoulder_link.STL" />
       </geometry>
       <material
         name="">
@@ -725,7 +719,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_shoulder_link.STL" />
+          filename="package://urdf/meshes/meshes/right_shoulder_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -769,7 +763,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm1_link.STL" />
       </geometry>
       <material
         name="">
@@ -783,7 +777,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm1_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm1_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -827,7 +821,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm2_link.STL" />
       </geometry>
       <material
         name="">
@@ -841,7 +835,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="/home/mrji/mujoco_learning/robot3/meshes/right_arm2_link.STL" />
+          filename="package://urdf/meshes/meshes/right_arm2_link.STL" />
       </geometry>
     </collision>
   </link>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf copy.xacro

@@ -0,0 +1,440 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 转换自 URDF 的 XACRO 文件，保留原模型参数并简化重复结构 -->
+<robot name="hive_core_bot0" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_link.xacro" />
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_joint.xacro" />
+
+  
+
+  <!-- 1. 基础链接（base_link） -->
+  <xacro:generic_link 
+    link_name="base_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/base_link.STL"
+    mass="0.4247767"
+    inertia_ixx="0.1131876" inertia_ixy="0.0000008" inertia_ixz="0.0001546"
+    inertia_iyy="0.0858545" inertia_iyz="0.0000006" inertia_izz="0.0325040"
+    origin_xyz="-0.0598891820748674 5.31626531352636E-07 0.164869219254393"
+    origin_rpy="0 0 0"
+    color_rgba="0.666666666666667 0.666666666666667 0.666666666666667 1"
+    enable_collision="false"
+  />
+
+  <!-- <link name="world">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+               iyy="0.0" iyz="0.0"
+               izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_world_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" /> 
+    <parent link="world" /> 
+    <child link="base_link" /> 
+  </joint> -->
+
+
+  <!-- 2. 左髋关节及腿部（left_hip/leg/wheel） -->
+  <!-- 2.1 左髋链接 -->
+  <xacro:generic_link 
+    link_name="left_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_hip_pitch_link.STL"
+    mass="0.6475263"
+    inertia_ixx="0.0182516" inertia_ixy="0.0000058" inertia_ixz="0.0001729"
+    inertia_iyy="0.0181748" inertia_iyz="-0.0006055" inertia_izz="0.0003913"
+    origin_xyz="3.93767161736252E-06 0.161490126813208 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.2 左髋关节 -->
+  <xacro:generic_joint 
+    joint_name="left_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_hip_pitch_link"
+    origin_xyz="-0.06 -0.1358 -0.037269"
+    origin_rpy="-1.5708 0.523 0.0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 2.3 左腿链接 -->
+  <xacro:generic_link 
+    link_name="left_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_leg_pitch_link.STL"
+    mass="0.5126336"
+    inertia_ixx="0.0135141" inertia_ixy="0.0000005" inertia_ixz="-0.0000325"
+    inertia_iyy="0.0135986" inertia_iyz="0.0001480" inertia_izz="0.0002025"
+    origin_xyz="-2.63464180747426E-05 0.197159145100908 0.000498203326348359"
+    origin_rpy="0 0 0"
+    color_rgba="1 0.372549019607843 0.294117647058824 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.4 左腿关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg_pitch_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 -1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 2.5 左车轮2链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_wheel2_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="4.1585564079967E-08 -5.47447156262759E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.6 左车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel2_joint"
+    type="revolute"
+    parent="left_leg_pitch_link"
+    child="left_wheel2_link"
+    origin_xyz="0 0.4805 0.004"
+    origin_rpy="-3.1416 0 -0.0024764"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 2.7 左车轮1链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_wheel1_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="1.97042367054093E-06 5.10773910927798E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.8 左车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel1_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_wheel1_link"
+    origin_xyz="0 0.48 0.01"
+    origin_rpy="0 0 0.0095732"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+
+  <!-- 3. 右髋关节及腿部（right_hip/leg/wheel） -->
+  <!-- 3.1 右髋链接 -->
+  <xacro:generic_link 
+    link_name="right_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_hip_pitch_link.STL"
+    mass="0.6475263"
+    inertia_ixx="0.0182531" inertia_ixy="-0.0000017" inertia_ixz="0.0000501"
+    inertia_iyy="0.0181748" inertia_iyz="0.0006055" inertia_izz="0.0003897"
+    origin_xyz="-3.97209815898069E-06 -0.161490067811833 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.2 右髋关节 -->
+  <xacro:generic_joint 
+    joint_name="right_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_hip_pitch_link"
+    origin_xyz="-0.06 0.1358 -0.037269"
+    origin_rpy="1.5708 0.523 0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 3.3 右腿链接 -->
+  <xacro:generic_link 
+    link_name="right_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_leg_pitch_link.STL"
+    mass="0.5126336"
+    inertia_ixx="0.0135142" inertia_ixy="0.0000001" inertia_ixz="0.0000001"
+    inertia_iyy="0.0135986" inertia_iyz="-0.0001480" inertia_izz="0.0002024"
+    origin_xyz="3.43008600186093E-05 -0.197159143801203 0.000498203308628542"
+    origin_rpy="0 0 0"
+    color_rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.4 右腿关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg_pitch_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 3.5 右车轮2链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_wheel2_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-5.49216228909084E-08 5.47435401360152E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.6 右车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel2_joint"
+    type="revolute"
+    parent="right_leg_pitch_link"
+    child="right_wheel2_link"
+    origin_xyz="1.9386E-05 -0.4805 0.004"
+    origin_rpy="3.1416 0 0"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 3.7 右车轮1链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_wheel1_link.STL"
+    mass="0.745"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-1.90651569380871E-06 -5.13193590762073E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.8 右车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel1_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_wheel1_link"
+    origin_xyz="0 -0.48 0.01"
+    origin_rpy="0 0 -0.0029091"
+    axis="0 0 1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="2"
+    velocity="3"
+  />
+
+
+  <!-- 4. 左手臂（left_shoulder/arm） -->
+  <!-- 4.1 左肩链接 -->
+  <xacro:generic_link 
+    link_name="left_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144837915216556 0.000108169744531657 0.0209530786562939"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.2 左肩关节 -->
+  <xacro:generic_joint 
+    joint_name="left_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_shoulder_link"
+    origin_xyz="-0.06 -0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 4.3 左手臂1链接 -->
+  <xacro:generic_link 
+    link_name="left_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_arm1_link.STL"
+    mass="0.5854363"
+    inertia_ixx="0.0008783" inertia_ixy="-0.0000561" inertia_ixz="0.0000086"
+    inertia_iyy="0.0002821" inertia_iyz="-0.0000017" inertia_izz="0.0009299"
+    origin_xyz="-0.00228631297282665 -0.000694770956028379 0.0248681244469774"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.4 左手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm1_joint"
+    type="revolute"
+    parent="left_shoulder_link"
+    child="left_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 -0.0074682"
+    axis="-1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 4.5 左手臂2链接 -->
+  <xacro:generic_link 
+    link_name="left_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/left_arm2_link.STL"
+    mass="0.7955302"
+    inertia_ixx="0.0035648" inertia_ixy="-0.0000258" inertia_ixz="0.0000009"
+    inertia_iyy="0.0002355" inertia_iyz="-0.0001213" inertia_izz="0.0036543"
+    origin_xyz="-0.0237485342372672 -0.0546317049801525 1.0877545797372E-05"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.6 左手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm2_joint"
+    type="revolute"
+    parent="left_arm1_link"
+    child="left_arm2_link"
+    origin_xyz="0.020127 0.0040341 0.17817"
+    origin_rpy="-1.6062 0.0074682 0"
+    axis="-0.99997 0.0074634 0.0002647"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+
+  <!-- 5. 右手臂（right_shoulder/arm） -->
+  <!-- 5.1 右肩链接 -->
+  <xacro:generic_link 
+    link_name="right_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144831349305154 -0.000175271563297497 0.0209530786562937"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.2 右肩关节 -->
+  <xacro:generic_joint 
+    joint_name="right_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_shoulder_link"
+    origin_xyz="-0.06 0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 5.3 右手臂1链接 -->
+  <xacro:generic_link 
+    link_name="right_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_arm1_link.STL"
+    mass="0.5854363"
+    inertia_ixx="0.0008778" inertia_ixy="0.0000592" inertia_ixz="-0.0000064"
+    inertia_iyy="0.0002836" inertia_iyz="-0.0000262" inertia_izz="0.0009288"
+    origin_xyz="-0.00258654183724675 0.00163071193731268 -0.0247948407356193"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.4 右手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm1_joint"
+    type="revolute"
+    parent="right_shoulder_link"
+    child="right_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 0"
+    axis="1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+  <!-- 5.5 右手臂2链接 -->
+  <xacro:generic_link 
+    link_name="right_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/meshes/right_arm2_link.STL"
+    mass="0.7955302"
+    inertia_ixx="0.0035728" inertia_ixy="0.0000412" inertia_ixz="-0.0000004"
+    inertia_iyy="0.0002317" inertia_iyz="0.0000292" inertia_izz="0.0036666"
+    origin_xyz="-0.0240175529876588 0.0558375631647781 2.11385309717427E-06"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.6 右手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm2_joint"
+    type="revolute"
+    parent="right_arm1_link"
+    child="right_arm2_link"
+    origin_xyz="0.017969 0.0026972 -0.17843"
+    origin_rpy="-1.5793 0 0"
+    axis="-0.99993 -0.0121 -0.00010316"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2"
+    velocity="3"
+  />
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/bot0.ros2_control.xacro" />
+  <xacro:bot0_ros2_control />
+
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot0/hive_core_bot0.urdf.xacro

@@ -0,0 +1,438 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 转换自 URDF 的 XACRO 文件，保留原模型参数并简化重复结构 -->
+<robot name="hive_core_bot0" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_link.xacro" />
+  <xacro:include filename="$(find hive_core_r0)/urdf/generic_joint.xacro" />
+
+  <!-- 1. 基础链接（base_link） -->
+  <xacro:generic_link 
+    link_name="base_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/base_link.STL"
+    mass="0.2"
+    inertia_ixx="0.00076" inertia_ixy="0.0000008" inertia_ixz="0.00001546"
+    inertia_iyy="0.000858545" inertia_iyz="0.0000006" inertia_izz="0.000325040"
+    origin_xyz="-0.0598891820748674 5.31626531352636E-07 0.164869219254393"
+    origin_rpy="0 0 0"
+    color_rgba="0.666666666666667 0.666666666666667 0.666666666666667 1"
+    enable_collision="false"
+  />
+
+  <link name="world">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+               iyy="0.0" iyz="0.0"
+               izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_world_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" /> 
+    <parent link="world" /> 
+    <child link="base_link" /> 
+  </joint>
+
+
+  <!-- 2. 左髋关节及腿部（left_hip/leg/wheel） -->
+  <!-- 2.1 左髋链接 -->
+  <xacro:generic_link 
+    link_name="left_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_hip_pitch_link.STL"
+    mass="0.1475263"
+    inertia_ixx="0.000182516" inertia_ixy="0.0000058" inertia_ixz="0.0001729"
+    inertia_iyy="0.000181748" inertia_iyz="-0.0006055" inertia_izz="0.0003913"
+    origin_xyz="3.93767161736252E-06 0.161490126813208 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.2 左髋关节 -->
+  <xacro:generic_joint 
+    joint_name="left_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_hip_pitch_link"
+    origin_xyz="-0.06 -0.1358 -0.037269"
+    origin_rpy="-1.5708 0.523 0.0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 2.3 左腿链接 -->
+  <xacro:generic_link 
+    link_name="left_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_leg_pitch_link.STL"
+    mass="0.1126336"
+    inertia_ixx="0.000135141" inertia_ixy="0.0000005" inertia_ixz="-0.0000325"
+    inertia_iyy="0.000135986" inertia_iyz="0.0001480" inertia_izz="0.0002025"
+    origin_xyz="-2.63464180747426E-05 0.197159145100908 0.000498203326348359"
+    origin_rpy="0 0 0"
+    color_rgba="1 0.372549019607843 0.294117647058824 1"
+    enable_collision="false"
+  />
+
+  <!-- 2.4 左腿关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg_pitch_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 -1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 2.5 左车轮2链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_wheel2_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="4.1585564079967E-08 -5.47447156262759E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.6 左车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel2_joint"
+    type="revolute"
+    parent="left_leg_pitch_link"
+    child="left_wheel2_link"
+    origin_xyz="0 0.4805 0.004"
+    origin_rpy="-3.1416 0 -0.0024764"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 2.7 左车轮1链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_wheel1_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="1.97042367054093E-06 5.10773910927798E-06 0.0187838263233595"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 2.8 左车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel1_joint"
+    type="revolute"
+    parent="left_hip_pitch_link"
+    child="left_wheel1_link"
+    origin_xyz="0 0.48 0.01"
+    origin_rpy="0 0 0.0095732"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+
+  <!-- 3. 右髋关节及腿部（right_hip/leg/wheel） -->
+  <!-- 3.1 右髋链接 -->
+  <xacro:generic_link 
+    link_name="right_hip_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_hip_pitch_link.STL"
+    mass="0.1475263"
+    inertia_ixx="0.000182531" inertia_ixy="-0.0000017" inertia_ixz="0.0000501"
+    inertia_iyy="0.000181748" inertia_iyz="0.0006055" inertia_izz="0.0003897"
+    origin_xyz="-3.97209815898069E-06 -0.161490067811833 0.0158567790568734"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.2 右髋关节 -->
+  <xacro:generic_joint 
+    joint_name="right_hip_pitch_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_hip_pitch_link"
+    origin_xyz="-0.06 0.1358 -0.037269"
+    origin_rpy="1.5708 0.523 0"
+    axis="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 3.3 右腿链接 -->
+  <xacro:generic_link 
+    link_name="right_leg_pitch_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_leg_pitch_link.STL"
+    mass="0.1126336"
+    inertia_ixx="0.000135142" inertia_ixy="0.0000001" inertia_ixz="0.0000001"
+    inertia_iyy="0.000135986" inertia_iyz="-0.0001480" inertia_izz="0.0002024"
+    origin_xyz="3.43008600186093E-05 -0.197159143801203 0.000498203308628542"
+    origin_rpy="0 0 0"
+    color_rgba="0.647058823529412 0.619607843137255 0.588235294117647 1"
+    enable_collision="false"
+  />
+
+  <!-- 3.4 右腿关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg_pitch_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_leg_pitch_link"
+    origin_xyz="0 0 -0.0295"
+    origin_rpy="0 0 1.046"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 3.5 右车轮2链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_wheel2_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-5.49216228909084E-08 5.47435401360152E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.6 右车轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel2_joint"
+    type="revolute"
+    parent="right_leg_pitch_link"
+    child="right_wheel2_link"
+    origin_xyz="1.9386E-05 -0.4805 0.004"
+    origin_rpy="3.1416 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 3.7 右车轮1链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_wheel1_link.STL"
+    mass="0.145"
+    inertia_ixx="0.0004716" inertia_ixy="0" inertia_ixz="0"
+    inertia_iyy="0.0007945" inertia_iyz="0.0000001" inertia_izz="0.0004716"
+    origin_xyz="-1.90651569380871E-06 -5.13193590762073E-06 0.0187838263233596"
+    origin_rpy="0 0 0"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 3.8 右车轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel1_joint"
+    type="revolute"
+    parent="right_hip_pitch_link"
+    child="right_wheel1_link"
+    origin_xyz="0 -0.48 0.01"
+    origin_rpy="0 0 -0.0029091"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+
+  <!-- 4. 左手臂（left_shoulder/arm） -->
+  <!-- 4.1 左肩链接 -->
+  <xacro:generic_link 
+    link_name="left_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144837915216556 0.000108169744531657 0.0209530786562939"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.2 左肩关节 -->
+  <xacro:generic_joint 
+    joint_name="left_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_shoulder_link"
+    origin_xyz="-0.06 -0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 4.3 左手臂1链接 -->
+  <xacro:generic_link 
+    link_name="left_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_arm1_link.STL"
+    mass="0.1854363"
+    inertia_ixx="0.0008783" inertia_ixy="-0.0000561" inertia_ixz="0.0000086"
+    inertia_iyy="0.0002821" inertia_iyz="-0.0000017" inertia_izz="0.0009299"
+    origin_xyz="-0.00228631297282665 -0.000694770956028379 0.0248681244469774"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.4 左手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm1_joint"
+    type="revolute"
+    parent="left_shoulder_link"
+    child="left_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 -0.0074682"
+    axis="-1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 4.5 左手臂2链接 -->
+  <xacro:generic_link 
+    link_name="left_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/left_arm2_link.STL"
+    mass="0.1955302"
+    inertia_ixx="0.000035648" inertia_ixy="-0.0000258" inertia_ixz="0.0000009"
+    inertia_iyy="0.0002355" inertia_iyz="-0.0001213" inertia_izz="0.0036543"
+    origin_xyz="-0.0237485342372672 -0.0546317049801525 1.0877545797372E-05"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 4.6 左手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm2_joint"
+    type="revolute"
+    parent="left_arm1_link"
+    child="left_arm2_link"
+    origin_xyz="0.020127 0.0040341 0.17817"
+    origin_rpy="-1.6062 0.0074682 0"
+    axis="-0.99997 0.0074634 0.0002647"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+
+  <!-- 5. 右手臂（right_shoulder/arm） -->
+  <!-- 5.1 右肩链接 -->
+  <xacro:generic_link 
+    link_name="right_shoulder_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_shoulder_link.STL"
+    mass="0.0131461"
+    inertia_ixx="0.0000070" inertia_ixy="0" inertia_ixz="0.0000017"
+    inertia_iyy="0.0000071" inertia_iyz="0" inertia_izz="0.0000045"
+    origin_xyz="-0.0144831349305154 -0.000175271563297497 0.0209530786562937"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.2 右肩关节 -->
+  <xacro:generic_joint 
+    joint_name="right_shoulder_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_shoulder_link"
+    origin_xyz="-0.06 0.0878 0.36288"
+    origin_rpy="0 0 0"
+    axis="0 0 1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 5.3 右手臂1链接 -->
+  <xacro:generic_link 
+    link_name="right_arm1_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_arm1_link.STL"
+    mass="0.1854363"
+    inertia_ixx="0.0008778" inertia_ixy="0.0000592" inertia_ixz="-0.0000064"
+    inertia_iyy="0.0002836" inertia_iyz="-0.0000262" inertia_izz="0.0009288"
+    origin_xyz="-0.00258654183724675 0.00163071193731268 -0.0247948407356193"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.4 右手臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm1_joint"
+    type="revolute"
+    parent="right_shoulder_link"
+    child="right_arm1_link"
+    origin_xyz="0 0 0.0385"
+    origin_rpy="1.5708 0 0"
+    axis="1 0 0"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+  <!-- 5.5 右手臂2链接 -->
+  <xacro:generic_link 
+    link_name="right_arm2_link"
+    mesh_file="file://$(find hive_core_r0)/urdf/hiveBot0/meshes/right_arm2_link.STL"
+    mass="0.1955302"
+    inertia_ixx="0.0035728" inertia_ixy="0.0000412" inertia_ixz="-0.0000004"
+    inertia_iyy="0.0002317" inertia_iyz="0.0000292" inertia_izz="0.0036666"
+    origin_xyz="-0.0240175529876588 0.0558375631647781 2.11385309717427E-06"
+    origin_rpy="0 0 0"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 5.6 右手臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm2_joint"
+    type="revolute"
+    parent="right_arm1_link"
+    child="right_arm2_link"
+    origin_xyz="0.017969 0.0026972 -0.17843"
+    origin_rpy="-1.5793 0 0"
+    axis="-0.99993 -0.0121 -0.00010316"
+    limit_lower="-1.5"
+    limit_upper="1.5"
+    effort="2000"
+    velocity="30"
+  />
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot0/bot0.ros2_control.xacro" />
+  <xacro:bot0_ros2_control />
+
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/bot1_ros2_control.xacro

@@ -0,0 +1,118 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- 宏定义：ros2_control硬件接口配置（适配位置控制器和轮子速度控制器） -->
+  <xacro:macro name="bot1_ros2_control">
+    <!-- 1. ros2_control系统配置：定义所有关节的控制接口 -->
+    <ros2_control name="Bot1GazeboSystem" type="system">
+      <!-- 硬件插件：关联Gazebo仿真 -->
+      <hardware>
+        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+
+        <!-- 所有关节的接口配置 -->
+        <!-- 腿部关节 -->
+        <joint name="left_leg1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_leg2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_leg1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_leg2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 轮子关节 -->
+        <joint name="left_wheel1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_wheel2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_wheel1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_wheel2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 身体关节 -->
+        <joint name="pitch_body_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 左臂关节 -->
+        <joint name="left_shoulder_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_arm1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="left_arm2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <!-- 右臂关节 -->
+        <joint name="right_shoulder_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_arm1_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+
+        <joint name="right_arm2_joint">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        </joint>
+    </ros2_control>
+
+    <!-- 4. Gazebo插件配置：关联控制器参数文件 -->
+    <gazebo>
+        <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <!-- 加载控制器配置文件（路径需替换为你的实际路径） -->
+        <parameters>$(find hive_core_r0)/config/bot1_ros2_controller.yaml</parameters>
+        </plugin>
+    </gazebo>
+    </xacro:macro>
+</robot>
+    

HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_joint.xacro

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- 通用关节(joint)宏定义 -->
+    <xacro:macro name="generic_joint" params="joint_name type parent child 
+                                            origin_xyz origin_rpy 
+                                            axis_xyz limit_lower limit_upper effort velocity">
+        <joint name="${joint_name}" type="${type}">
+            <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+            <parent link="${parent}" />
+            <child link="${child}" />
+            <axis xyz="${axis_xyz}" />
+            <limit lower="${limit_lower}" upper="${limit_upper}" 
+                    effort="${effort}" velocity="${velocity}" />
+        </joint>
+    </xacro:macro>
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/generic_link.xacro

@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- 通用链接(link)宏定义 -->
+    <xacro:macro name="generic_link" params="link_name mesh_file 
+                                            inertia_xyz inertia_rpy 
+                                            mass ixx ixy ixz iyy iyz izz 
+                                            color_rgba enable_collision">
+        <link name="${link_name}">
+            <!-- 惯性参数 -->
+            <inertial>
+                <origin xyz="${inertia_xyz}" rpy="${inertia_rpy}" />
+                <mass value="${mass}" />
+                <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}"
+                        iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
+            </inertial>
+            <!-- 可视化模型 -->
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                <mesh filename="${mesh_file}" />
+                </geometry>
+                <material name="${link_name}_material">
+                <color rgba="${color_rgba}" />
+                </material>
+            </visual>
+            <xacro:if value="${enable_collision}">
+                <collision>
+                    <origin xyz="0 0 0" rpy="0 0 0" />
+                    <geometry>
+                        <!-- <mesh filename="${mesh_file}" /> -->
+                        <cylinder radius="0.1" length="0.1" />
+                    </geometry>
+                    <material name="blue">
+                        <color rgba="0.1 0.1 1.0 0.5" />
+                    </material>
+                </collision>
+            </xacro:if>
+
+            <!-- 仅当启用碰撞时，添加碰撞物理参数 -->
+            <xacro:if value="${enable_collision}">
+                <gazebo reference="${link_name}">
+                    <collision>
+                        <surface>
+                            <contact>
+                                <ode>
+                                    <!-- 刚度：根据轮子质量调整，建议 1e5~1e6（质量越大，kp适当增大） -->
+                                    <kp>5e5</kp>  
+                                    <!-- 阻尼：kp的1%~5%，确保振动快速衰减（关键参数） -->
+                                    <kd>2e4</kd>  
+                                    <!-- 静/动摩擦系数：0.8~1.0，避免打滑 -->
+                                    <mu1>1000</mu1>  
+                                    <mu2>1000</mu2>  
+                                    <!-- 允许微小穿透（0.001~0.01m），减少高频抖动 -->
+                                    <min_depth>0.005</min_depth>  
+                                    <!-- 碰撞时的最大校正速度，防止剧烈弹跳 -->
+                                    <max_vel>0.1</max_vel>  
+                                </ode>
+                            </contact>
+                            <bounce>
+                                <!-- 反弹系数：0 = 完全不反弹（核心参数） -->
+                                <restitution_coefficient>0.0</restitution_coefficient>  
+                                <!-- 碰撞速度阈值：设为0，确保所有碰撞都无反弹 -->
+                                <threshold>0.0</threshold>  
+                            </bounce>
+                        </surface>
+                    </collision>
+                </gazebo>
+            </xacro:if>
+        </link>
+    </xacro:macro>
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf

@@ -0,0 +1,925 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="robot5">
+
+  <mujoco>
+    <compiler 
+      meshdir="/home/mrji/mujoco_learning/robot5/meshes" 
+      balanceinertia="true" 
+      discardvisual="false" />
+  </mujoco>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.0223121090242412 0.00180410615499793 0.0294578734419628"
+        rpy="0 0 0" />
+      <mass
+        value="8.01740117497269" />
+      <inertia
+        ixx="0.0100767591002942"
+        ixy="-8.33871415118017E-06"
+        ixz="-3.04794782095214E-06"
+        iyy="0.00687778146550088"
+        iyz="2.70300324348596E-06"
+        izz="0.0095089226755309" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.592156862745098 0.619607843137255 0.650980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_leg1_link">
+    <inertial>
+      <origin
+        xyz="0.0026919722577641 -0.106691141065344 0.000439159272074496"
+        rpy="0 0 0" />
+      <mass
+        value="0.687221704005751" />
+      <inertia
+        ixx="0.00309344360201386"
+        ixy="7.22427359994752E-05"
+        ixz="-1.7837563113331E-07"
+        iyy="0.000199758758340417"
+        iyz="5.25184127616714E-06"
+        izz="0.00327480626360329" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_leg1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.023189 -0.14297 0.032124"
+      rpy="1.5097 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_leg1_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_wheel1_link">
+    <inertial>
+      <origin
+        xyz="-2.01863499148247E-06 -1.71217600630769E-06 -0.000769610134319532"
+        rpy="0 0 0" />
+      <mass
+        value="0.243841354713671" />
+      <inertia
+        ixx="0.000147760027881631"
+        ixy="2.12254130748857E-09"
+        ixz="-1.63113803254759E-08"
+        iyy="0.000147759325738658"
+        iyz="-1.38350688180478E-08"
+        izz="0.000229476928281019" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wheel1_joint"
+    type="revolute">
+    <origin
+      xyz="0.010552 -0.41639 -0.03757"
+      rpy="3.1416 0 0" />
+    <parent
+      link="left_leg1_link" />
+    <child
+      link="left_wheel1_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_leg1_link">
+    <inertial>
+      <origin
+        xyz="-3.01562743165443E-05 -0.106725092599043 -0.000439159317208282"
+        rpy="0 0 0" />
+      <mass
+        value="0.687221703818328" />
+      <inertia
+        ixx="0.00309524606532856"
+        ixy="-4.05589498874716E-09"
+        ixz="-4.73342140491208E-08"
+        iyy="0.000197956293734699"
+        iyz="-5.25465636656606E-06"
+        izz="0.00327480626231139" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.686274509803922 0.686274509803922 0.686274509803922 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_leg1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.022996 0.14297 0.032127"
+      rpy="1.6319 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_leg1_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_wheel1_link">
+    <inertial>
+      <origin
+        xyz="1.92448237847231E-06 1.8173611248673E-06 -0.000769610176954372"
+        rpy="0 0 0" />
+      <mass
+        value="0.243841354713671" />
+      <inertia
+        ixx="0.000147759799888368"
+        ixy="2.14785580095997E-09"
+        ixz="1.55505894769142E-08"
+        iyy="0.000147759553731921"
+        iyz="1.46850067839037E-08"
+        izz="0.000229476928281019" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wheel1_joint"
+    type="revolute">
+    <origin
+      xyz="-0.00016377 -0.41653 0.03757"
+      rpy="0 0 0" />
+    <parent
+      link="right_leg1_link" />
+    <child
+      link="right_wheel1_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+  <link
+    name="pitch_body_link">
+    <inertial>
+      <origin
+        xyz="0.000405025729528165 0.164222263553734 0.038212974552542"
+        rpy="0 0 0" />
+      <mass
+        value="6.27735184123949" />
+      <inertia
+        ixx="0.012112631055994"
+        ixy="0.000262225328016326"
+        ixz="-4.41212676410044E-06"
+        iyy="0.00923713569100348"
+        iyz="-6.27634886947933E-05"
+        izz="0.00865286317711146" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/pitch_body_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.592156862745098 0.619607843137255 0.650980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/pitch_body_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pitch_body_joint"
+    type="revolute">
+    <origin
+      xyz="-0.022999 0.039 0.048"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="pitch_body_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.5236"
+      upper="0.5236"
+      effort="20"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_shoulder_link">
+    <inertial>
+      <origin
+        xyz="0.0139828606345992 0.000183964382035662 0.0469280544333041"
+        rpy="0 0 0" />
+      <mass
+        value="2.24001373537068" />
+      <inertia
+        ixx="0.00187573272868104"
+        ixy="5.61569065704759E-06"
+        ixz="-1.58654763334498E-05"
+        iyy="0.00158854268624343"
+        iyz="8.8447275683334E-07"
+        izz="0.00161229514279373" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_shoulder_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.92156862745098 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_shoulder_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_joint"
+    type="revolute">
+    <origin
+      xyz="0.00396365185327967 0.220964452984708 0.0865"
+      rpy="-1.5707963267949 0 0" />
+    <parent
+      link="pitch_body_link" />
+    <child
+      link="left_shoulder_link" />
+    <axis
+      xyz="-0.0179350762557234 0 -0.999839153584066" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_arm1_link">
+    <inertial>
+      <origin
+        xyz="-0.0237185143086008 -0.146707321130601 0.0947584340472464"
+        rpy="0 0 0" />
+      <mass
+        value="1.97210272038181" />
+      <inertia
+        ixx="0.0020453207276327"
+        ixy="-7.93710872896332E-05"
+        ixz="3.82437020118978E-05"
+        iyy="0.00151626513015615"
+        iyz="0.000308320536526838"
+        izz="0.00183373717106277" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_arm1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_arm1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm1_joint"
+    type="revolute">
+    <origin
+      xyz="0.0403430563984948 0.00044500097133069 0.0467839692408788"
+      rpy="0.560887033481642 0 0" />
+    <parent
+      link="left_shoulder_link" />
+    <child
+      link="left_arm1_link" />
+    <axis
+      xyz="0.99977570211955 0 -0.0211788916461878" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_arm2_link">
+    <inertial>
+      <origin
+        xyz="-0.0044670114805947 0.108002437145143 -0.0700232476387601"
+        rpy="0 0 0" />
+      <mass
+        value="0.153345483355902" />
+      <inertia
+        ixx="0.000846185788600758"
+        ixy="8.22351279275958E-05"
+        ixz="-4.72026465483579E-05"
+        iyy="0.000325958142834647"
+        iyz="0.000341442751456307"
+        izz="0.000633417429555725" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_arm2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_arm2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_arm2_joint"
+    type="revolute">
+    <origin
+      xyz="0.00696183199978448 -0.151367984040579 0.0972793725016652"
+      rpy="-3.14159265358976 0 0" />
+    <parent
+      link="left_arm1_link" />
+    <child
+      link="left_arm2_link" />
+    <axis
+      xyz="-0.99977570211955 0 -0.0211788916461861" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="20"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_shoulder_link">
+    <inertial>
+      <origin
+        xyz="0.0139817634960264 -0.000283387663890286 0.0469666821426944"
+        rpy="0 0 0" />
+      <mass
+        value="2.24001360218308" />
+      <inertia
+        ixx="0.00187572320791288"
+        ixy="-7.22979277002269E-06"
+        ixz="-1.38305404469916E-05"
+        iyy="0.00158896107508856"
+        iyz="-4.80454269915803E-07"
+        izz="0.00161188619803665" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_shoulder_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.92156862745098 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_shoulder_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_joint"
+    type="revolute">
+    <origin
+      xyz="0.00396365185327941 0.220964452984708 -0.00950000000000008"
+      rpy="-1.5707963267949 0 0" />
+    <parent
+      link="pitch_body_link" />
+    <child
+      link="right_shoulder_link" />
+    <axis
+      xyz="-0.0179350762557234 0 -0.999839153584066" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_arm1_link">
+    <inertial>
+      <origin
+        xyz="-0.0222764790210273 0.116445846258557 0.130395530944397"
+        rpy="0 0 0" />
+      <mass
+        value="1.97210271472831" />
+      <inertia
+        ixx="0.00204747347595548"
+        ixy="4.42933377299481E-05"
+        ixz="6.73328370107109E-05"
+        iyy="0.00173434064125734"
+        iyz="-0.000339327591519728"
+        izz="0.00161350890019016" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_arm1_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_arm1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm1_joint"
+    type="revolute">
+    <origin
+      xyz="0.040338077059205 -0.000769030026202884 0.046784058560075"
+      rpy="-0.826482123984997 0 0" />
+    <parent
+      link="right_shoulder_link" />
+    <child
+      link="right_arm1_link" />
+    <axis
+      xyz="0.999649642897155 0 -0.0264686882106157" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_arm2_link">
+    <inertial>
+      <origin
+        xyz="-0.00344285141443855 -0.0871900700243705 -0.0947300074211656"
+        rpy="0 0 0" />
+      <mass
+        value="0.153345483533995" />
+      <inertia
+        ixx="0.000848016249761213"
+        ixy="-5.62001253862557E-05"
+        ixz="-6.88219353067134E-05"
+        iyy="0.000513290254168688"
+        iyz="-0.000373425902214173"
+        izz="0.00044425485583754" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_arm2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_arm2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_arm2_joint"
+    type="revolute">
+    <origin
+      xyz="0.00854070115695219 0.120366284301785 0.133656328091823"
+      rpy="-3.14159265358977 0 0" />
+    <parent
+      link="right_arm1_link" />
+    <child
+      link="right_arm2_link" />
+    <axis
+      xyz="-0.999649642897155 0 -0.0264686882106164" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="20"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_leg2_link">
+    <inertial>
+      <origin
+        xyz="-0.00247971563497956 -0.0972883314998296 0.00524725682640842"
+        rpy="0 0 0" />
+      <mass
+        value="0.758444942474565" />
+      <inertia
+        ixx="0.00308402598971299"
+        ixy="-7.39501679752198E-05"
+        ixz="4.61546712808476E-06"
+        iyy="0.00021886670519613"
+        iyz="0.000190799531555152"
+        izz="0.00323764016118335" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.686274509803922 0.686274509803922 0.686274509803922 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_leg2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_leg2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.092811 -0.14333 0.032022"
+      rpy="1.5708 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_leg2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="left_wheel2_link">
+    <inertial>
+      <origin
+        xyz="-2.63258476833339E-06 -2.75556383766418E-07 -0.000769610176954399"
+        rpy="0 0 0" />
+      <mass
+        value="0.243841354713671" />
+      <inertia
+        ixx="0.000147761781558832"
+        ixy="4.45494954114067E-10"
+        ixz="-2.127234078802E-08"
+        iyy="0.000147757572061457"
+        iyz="-2.226606099262E-09"
+        izz="0.000229476928281019" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/left_wheel2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_wheel2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.010549 -0.41781 -0.01244"
+      rpy="3.0805 0 0" />
+    <parent
+      link="left_leg2_link" />
+    <child
+      link="left_wheel2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_leg2_link">
+    <inertial>
+      <origin
+        xyz="-0.0050516474502517 -0.0973277461307459 0.000701841039130763"
+        rpy="0 0 0" />
+      <mass
+        value="0.758444958401021" />
+      <inertia
+        ixx="0.00307823597256189"
+        ixy="-0.000148312070292207"
+        ixz="-3.2725667530637E-07"
+        iyy="0.000212654851830719"
+        iyz="-5.42028503051418E-06"
+        izz="0.00324964203847903" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_leg2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_leg2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.092614 0.14333 0.032015"
+      rpy="1.6319 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_leg2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="60"
+      velocity="50" />
+  </joint>
+  <link
+    name="right_wheel2_link">
+    <inertial>
+      <origin
+        xyz="1.93300484906123E-06 1.80829370854951E-06 -0.000769610176954413"
+        rpy="0 0 0" />
+      <mass
+        value="0.243841354713671" />
+      <inertia
+        ixx="0.000147759820077608"
+        ixy="2.14660364874833E-09"
+        ixz="1.56194544574533E-08"
+        iyy="0.000147759533542682"
+        iyz="1.46117384240508E-08"
+        izz="0.000229476928281019" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel2_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.780392156862745 0.780392156862745 0.780392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="/home/mrji/mujoco_learning/robot5/urdf/meshes/right_wheel2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_wheel2_joint"
+    type="revolute">
+    <origin
+      xyz="-0.021629 -0.41584 0.037923"
+      rpy="0 0 0" />
+    <parent
+      link="right_leg2_link" />
+    <child
+      link="right_wheel2_link" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-1000"
+      upper="1000"
+      effort="30"
+      velocity="50" />
+  </joint>
+</robot>

HiveCoreR0/src/hive_core_r0/urdf/hiveBot1/hive_core_bot1.urdf.xacro

@@ -0,0 +1,523 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="hive_core_bot1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- 引入XACRO命名空间 -->
+  <xacro:property name="meshes_path" value="file://$(find hive_core_r0)/urdf/hiveBot1/meshes" />
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot1/generic_link.xacro" />
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot1/generic_joint.xacro" />
+
+  <!-- 基础链接 -->
+  <xacro:generic_link 
+    link_name="base_link"
+    mesh_file="${meshes_path}/base_link.STL"
+    inertia_xyz="-0.0223121090242412 0.00180410615499793 0.0294578734419628"
+    inertia_rpy="0 0 0"
+    mass="8.01740117497269"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.592156862745098 0.619607843137255 0.650980392156863 1"
+    enable_collision="true"
+  />
+
+  <!-- 左腿1链接 -->
+  <xacro:generic_link 
+    link_name="left_leg1_link"
+    mesh_file="${meshes_path}/left_leg1_link.STL"
+    inertia_xyz="0.0026919722577641 -0.106691141065344 0.000439159272074496"
+    inertia_rpy="0 0 0"
+    mass="0.687221704005751"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"
+    enable_collision="false"
+  />
+
+  <!-- 左轮1链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel1_link"
+    mesh_file="${meshes_path}/left_wheel1_link.STL"
+    inertia_xyz="-2.01863499148247E-06 -1.71217600630769E-06 -0.000769610134319532"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 右腿1链接 -->
+  <xacro:generic_link 
+    link_name="right_leg1_link"
+    mesh_file="${meshes_path}/right_leg1_link.STL"
+    inertia_xyz="-3.01562743165443E-05 -0.106725092599043 -0.000439159317208282"
+    inertia_rpy="0 0 0"
+    mass="0.687221703818328"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.686274509803922 0.686274509803922 0.686274509803922 1"
+    enable_collision="false"
+  />
+
+  <!-- 右轮1链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel1_link"
+    mesh_file="${meshes_path}/right_wheel1_link.STL"
+    inertia_xyz="1.92448237847231E-06 1.8173611248673E-06 -0.000769610176954372"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 俯仰身体链接 -->
+  <xacro:generic_link 
+    link_name="pitch_body_link"
+    mesh_file="${meshes_path}/pitch_body_link.STL"
+    inertia_xyz="0.000405025729528165 0.164222263553734 0.038212974552542"
+    inertia_rpy="0 0 0"
+    mass="6.27735184123949"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.592156862745098 0.619607843137255 0.650980392156863 1"
+    enable_collision="true"
+  />
+
+  <!-- 左肩链接 -->
+  <xacro:generic_link 
+    link_name="left_shoulder_link"
+    mesh_file="${meshes_path}/left_shoulder_link.STL"
+    inertia_xyz="0.0139828606345992 0.000183964382035662 0.0469280544333041"
+    inertia_rpy="0 0 0"
+    mass="2.24001373537068"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.898039215686275 0.92156862745098 0.929411764705882 1"
+    enable_collision="true"
+  />
+
+  <!-- 左臂1链接 -->
+  <xacro:generic_link 
+    link_name="left_arm1_link"
+    mesh_file="${meshes_path}/left_arm1_link.STL"
+    inertia_xyz="-0.0237185143086008 -0.146707321130601 0.0947584340472464"
+    inertia_rpy="0 0 0"
+    mass="1.97210272038181"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 左臂2链接 -->
+  <xacro:generic_link 
+    link_name="left_arm2_link"
+    mesh_file="${meshes_path}/left_arm2_link.STL"
+    inertia_xyz="-0.0044670114805947 0.108002437145143 -0.0700232476387601"
+    inertia_rpy="0 0 0"
+    mass="0.153345483355902"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="true"
+  />
+
+  <!-- 右肩链接 -->
+  <xacro:generic_link 
+    link_name="right_shoulder_link"
+    mesh_file="${meshes_path}/right_shoulder_link.STL"
+    inertia_xyz="0.0139817634960264 -0.000283387663890286 0.0469666821426944"
+    inertia_rpy="0 0 0"
+    mass="2.24001360218308"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.898039215686275 0.92156862745098 0.929411764705882 1"
+    enable_collision="true"
+  />
+
+  <!-- 右臂1链接 -->
+  <xacro:generic_link 
+    link_name="right_arm1_link"
+    mesh_file="${meshes_path}/right_arm1_link.STL"
+    inertia_xyz="-0.0222764790210273 0.116445846258557 0.130395530944397"
+    inertia_rpy="0 0 0"
+    mass="1.97210271472831"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="false"
+  />
+
+  <!-- 右臂2链接 -->
+  <xacro:generic_link 
+    link_name="right_arm2_link"
+    mesh_file="${meshes_path}/right_arm2_link.STL"
+    inertia_xyz="-0.00344285141443855 -0.0871900700243705 -0.0947300074211656"
+    inertia_rpy="0 0 0"
+    mass="0.153345483533995"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="1 1 1 1"
+    enable_collision="true"
+  />
+
+  <!-- 左腿2链接 -->
+  <xacro:generic_link 
+    link_name="left_leg2_link"
+    mesh_file="${meshes_path}/left_leg2_link.STL"
+    inertia_xyz="-0.00247971563497956 -0.0972883314998296 0.00524725682640842"
+    inertia_rpy="0 0 0"
+    mass="0.758444942474565"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.686274509803922 0.686274509803922 0.686274509803922 1"
+    enable_collision="false"
+  />
+
+  <!-- 左轮2链接 -->
+  <xacro:generic_link 
+    link_name="left_wheel2_link"
+    mesh_file="${meshes_path}/left_wheel2_link.STL"
+    inertia_xyz="-2.63258476833339E-06 -2.75556383766418E-07 -0.000769610176954399"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 右腿2链接 -->
+  <xacro:generic_link 
+    link_name="right_leg2_link"
+    mesh_file="${meshes_path}/right_leg2_link.STL"
+    inertia_xyz="-0.0050516474502517 -0.0973277461307459 0.000701841039130763"
+    inertia_rpy="0 0 0"
+    mass="0.758444958401021"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.501960784313725 0.501960784313725 0.501960784313725 1"
+    enable_collision="false"
+  />
+
+  <!-- 右轮2链接 -->
+  <xacro:generic_link 
+    link_name="right_wheel2_link"
+    mesh_file="${meshes_path}/right_wheel2_link.STL"
+    inertia_xyz="1.93300484906123E-06 1.80829370854951E-06 -0.000769610176954413"
+    inertia_rpy="0 0 0"
+    mass="0.243841354713671"
+    ixx="0.1"
+    ixy="0"
+    ixz="0"
+    iyy="0.1"
+    iyz="0"
+    izz="0.1"
+    color_rgba="0.780392156862745 0.780392156862745 0.780392156862745 1"
+    enable_collision="true"
+  />
+
+  <!-- 左腿1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg1_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_leg1_link"
+    origin_xyz="-0.023189 -0.14297 0.032124"
+    origin_rpy="1.5097 -0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel1_joint"
+    type="revolute"
+    parent="left_leg1_link"
+    child="left_wheel1_link"
+    origin_xyz="0.010552 -0.41639 -0.03757"
+    origin_rpy="3.1416 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右腿1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg1_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_leg1_link"
+    origin_xyz="-0.022996 0.14297 0.032127"
+    origin_rpy="1.6319 -0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右轮1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel1_joint"
+    type="revolute"
+    parent="right_leg1_link"
+    child="right_wheel1_link"
+    origin_xyz="-0.00016377 -0.41653 0.03757"
+    origin_rpy="0 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 俯仰身体关节 -->
+  <xacro:generic_joint 
+    joint_name="pitch_body_joint"
+    type="revolute"
+    parent="base_link"
+    child="pitch_body_link"
+    origin_xyz="-0.022999 0.039 0.048"
+    origin_rpy="1.5708 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-0.5236"
+    limit_upper="0.5236"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左肩关节 -->
+  <xacro:generic_joint 
+    joint_name="left_shoulder_joint"
+    type="revolute"
+    parent="pitch_body_link"
+    child="left_shoulder_link"
+    origin_xyz="0.00396365185327967 0.220964452984708 0.0865"
+    origin_rpy="-1.5707963267949 0 0"
+    axis_xyz="-0.0179350762557234 0 -0.999839153584066"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm1_joint"
+    type="revolute"
+    parent="left_shoulder_link"
+    child="left_arm1_link"
+    origin_xyz="0.0403430563984948 0.00044500097133069 0.0467839692408788"
+    origin_rpy="0.560887033481642 0 0"
+    axis_xyz="0.99977570211955 0 -0.0211788916461878"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_arm2_joint"
+    type="revolute"
+    parent="left_arm1_link"
+    child="left_arm2_link"
+    origin_xyz="0.00696183199978448 -0.151367984040579 0.0972793725016652"
+    origin_rpy="-3.14159265358976 0 0"
+    axis_xyz="-0.99977570211955 0 -0.0211788916461861"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右肩关节 -->
+  <xacro:generic_joint 
+    joint_name="right_shoulder_joint"
+    type="revolute"
+    parent="pitch_body_link"
+    child="right_shoulder_link"
+    origin_xyz="0.00396365185327941 0.220964452984708 -0.00950000000000008"
+    origin_rpy="-1.5707963267949 0 0"
+    axis_xyz="-0.0179350762557234 0 -0.999839153584066"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右臂1关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm1_joint"
+    type="revolute"
+    parent="right_shoulder_link"
+    child="right_arm1_link"
+    origin_xyz="0.040338077059205 -0.000769030026202884 0.046784058560075"
+    origin_rpy="-0.826482123984997 0 0"
+    axis_xyz="0.999649642897155 0 -0.0264686882106157"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右臂2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_arm2_joint"
+    type="revolute"
+    parent="right_arm1_link"
+    child="right_arm2_link"
+    origin_xyz="0.00854070115695219 0.120366284301785 0.133656328091823"
+    origin_rpy="-3.14159265358977 0 0"
+    axis_xyz="-0.999649642897155 0 -0.0264686882106164"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左腿2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_leg2_joint"
+    type="revolute"
+    parent="base_link"
+    child="left_leg2_link"
+    origin_xyz="-0.092811 -0.14333 0.032022"
+    origin_rpy="1.5708 0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 左轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="left_wheel2_joint"
+    type="revolute"
+    parent="left_leg2_link"
+    child="left_wheel2_link"
+    origin_xyz="-0.010549 -0.41781 -0.01244"
+    origin_rpy="3.0805 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右腿2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_leg2_joint"
+    type="revolute"
+    parent="base_link"
+    child="right_leg2_link"
+    origin_xyz="-0.092614 0.14333 0.032015"
+    origin_rpy="1.6319 0.523 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1.57"
+    limit_upper="1.57"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- 右轮2关节 -->
+  <xacro:generic_joint 
+    joint_name="right_wheel2_joint"
+    type="revolute"
+    parent="right_leg2_link"
+    child="right_wheel2_link"
+    origin_xyz="-0.021629 -0.41584 0.037923"
+    origin_rpy="0 0 0"
+    axis_xyz="0 0 -1"
+    limit_lower="-1000"
+    limit_upper="1000"
+    effort="6000"
+    velocity="50"
+  />
+
+  <!-- <link name="world">
+    <inertial>
+      <mass value="0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+               iyy="0.0" iyz="0.0"
+               izz="0.0"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_world_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" /> 
+    <parent link="world" /> 
+    <child link="base_link" /> 
+  </joint> -->
+
+  <xacro:include filename="$(find hive_core_r0)/urdf/hiveBot1/bot1_ros2_control.xacro" />
+  <xacro:bot1_ros2_control />
+
+</robot>

HiveCoreR0/src/hive_core_r0/world/bot0.world

@@ -0,0 +1,324 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='table'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual1'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg_collision'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_left_leg_visual'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg_collision'>
+          <pose>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_right_leg_visual'>
+          <pose>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_right_leg_collision'>
+          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='back_right_leg_visual'>
+          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_left_leg_collision'>
+          <pose>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='back_left_leg_visual'>
+          <pose>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <pose>-0.772768 -1.3242 0 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>83 658000000</sim_time>
+      <real_time>83 738917407</real_time>
+      <wall_time>1753783232 542949961</wall_time>
+      <iterations>83658</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='table'>
+        <pose>-0.772768 -1.3242 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>-0.772768 -1.3242 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>4.75138 -5.25474 1.98471 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>

HiveCoreR0/src/hive_core_r0/world/empty.world

@@ -0,0 +1,116 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e6</kp>  <!-- 地面刚度可稍大于轮子 -->
+                <kd>5e4</kd>
+                <mu1>1000.0</mu1>
+                <mu2>1000.0</mu2>
+              </ode>
+            </contact>
+            <bounce>
+              <restitution_coefficient>0.0</restitution_coefficient>
+            </bounce>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>94 268000000</sim_time>
+      <real_time>94 323810591</real_time>
+      <wall_time>1753965160 659575744</wall_time>
+      <iterations>94268</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>5 -5 2 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>

HiveCoreR0/src/hive_core_r0/world/room/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>room</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

HiveCoreR0/src/hive_core_r0/world/room/model.sdf

@@ -0,0 +1,297 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='room'>
+    <pose>-0.972666 -0.903877 0 0 -0 0</pose>
+    <link name='Wall_66'>
+      <collision name='Wall_66_Collision'>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_66_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.013921 5.50955 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_67'>
+      <collision name='Wall_67_Collision'>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_67_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>9.43892 -0.040455 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_68'>
+      <collision name='Wall_68_Collision'>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_68_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>19 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.013921 -5.59046 0 0 -0 3.14159</pose>
+    </link>
+    <link name='Wall_69'>
+      <collision name='Wall_69_Collision'>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_69_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>11.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-9.41108 -0.040455 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_71'>
+      <collision name='Wall_71_Collision'>
+        <geometry>
+          <box>
+            <size>4.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_71_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-1.11769 3.29046 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_72'>
+      <collision name='Wall_72_Collision'>
+        <geometry>
+          <box>
+            <size>6.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_72_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>6.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-4.41769 0.990456 0 0 -0 3.14159</pose>
+    </link>
+    <link name='Wall_79'>
+      <collision name='Wall_79_Collision'>
+        <geometry>
+          <box>
+            <size>3.47722 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_79_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.47722 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.391784 -3.86799 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_80'>
+      <collision name='Wall_80_Collision'>
+        <geometry>
+          <box>
+            <size>7.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_80_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>7.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>4.06678 -2.24484 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_85'>
+      <collision name='Wall_85_Collision'>
+        <geometry>
+          <box>
+            <size>6.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_85_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>6.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-6.38892 -1.80969 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_86'>
+      <collision name='Wall_86_Collision'>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_86_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-3.33892 -3.10969 0 0 -0 -1.5708</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>

HiveCoreR0/src/hive_core_r0/world/table.world

@@ -0,0 +1,321 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link_0'>
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <kp>1e6</kp>  <!-- 地面刚度可稍大于轮子 -->
+                <kd>5e4</kd>
+                <mu1>10.0</mu1>
+                <mu2>10.0</mu2>
+              </ode>
+            </contact>
+            <bounce>
+              <restitution_coefficient>0.0</restitution_coefficient>
+            </bounce>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='table'>
+      <static>1</static>
+      <link name='link_1'>
+        <collision name='surface'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual1'>
+          <pose>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg_collision'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='front_left_leg_visual'>
+          <pose>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg_collision'>
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+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+# define COMPILER_VERSION_INTERNAL_STR  __clang_version__
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__) && defined(__ti__)
+# define COMPILER_ID "TIClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ti_major__)
+  # define COMPILER_VERSION_MINOR DEC(__ti_minor__)
+  # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__)
+# define COMPILER_VERSION_INTERNAL DEC(__ti_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__clang__) && defined(__ti__)
+# if defined(__ARM_ARCH)
+#  define ARCHITECTURE_ID "ARM"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__) || defined(__CPARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#define C_STD_99 199901L
+#define C_STD_11 201112L
+#define C_STD_17 201710L
+#define C_STD_23 202311L
+
+#ifdef __STDC_VERSION__
+#  define C_STD __STDC_VERSION__
+#endif
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif C_STD > C_STD_17
+# define C_VERSION "23"
+#elif C_STD > C_STD_11
+# define C_VERSION "17"
+#elif C_STD > C_STD_99
+# define C_VERSION "11"
+#elif C_STD >= C_STD_99
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#if defined(COMPILER_VERSION_INTERNAL) || defined(COMPILER_VERSION_INTERNAL_STR)
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,920 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+# define COMPILER_VERSION_INTERNAL_STR  __clang_version__
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__) && defined(__ti__)
+# define COMPILER_ID "TIClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ti_major__)
+  # define COMPILER_VERSION_MINOR DEC(__ti_minor__)
+  # define COMPILER_VERSION_PATCH DEC(__ti_patchlevel__)
+# define COMPILER_VERSION_INTERNAL DEC(__ti_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__clang__) && defined(__ti__)
+# if defined(__ARM_ARCH)
+#  define ARCHITECTURE_ID "ARM"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__) || defined(__CPARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#define CXX_STD_98 199711L
+#define CXX_STD_11 201103L
+#define CXX_STD_14 201402L
+#define CXX_STD_17 201703L
+#define CXX_STD_20 202002L
+#define CXX_STD_23 202302L
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG)
+#  if _MSVC_LANG > CXX_STD_17
+#    define CXX_STD _MSVC_LANG
+#  elif _MSVC_LANG == CXX_STD_17 && defined(__cpp_aggregate_paren_init)
+#    define CXX_STD CXX_STD_20
+#  elif _MSVC_LANG > CXX_STD_14 && __cplusplus > CXX_STD_17
+#    define CXX_STD CXX_STD_20
+#  elif _MSVC_LANG > CXX_STD_14
+#    define CXX_STD CXX_STD_17
+#  elif defined(__INTEL_CXX11_MODE__) && defined(__cpp_aggregate_nsdmi)
+#    define CXX_STD CXX_STD_14
+#  elif defined(__INTEL_CXX11_MODE__)
+#    define CXX_STD CXX_STD_11
+#  else
+#    define CXX_STD CXX_STD_98
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  if _MSVC_LANG > __cplusplus
+#    define CXX_STD _MSVC_LANG
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif defined(__NVCOMPILER)
+#  if __cplusplus == CXX_STD_17 && defined(__cpp_aggregate_paren_init)
+#    define CXX_STD CXX_STD_20
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif defined(__INTEL_COMPILER) || defined(__PGI)
+#  if __cplusplus == CXX_STD_11 && defined(__cpp_namespace_attributes)
+#    define CXX_STD CXX_STD_17
+#  elif __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi)
+#    define CXX_STD CXX_STD_14
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif (defined(__IBMCPP__) || defined(__ibmxl__)) && defined(__linux__)
+#  if __cplusplus == CXX_STD_11 && defined(__cpp_aggregate_nsdmi)
+#    define CXX_STD CXX_STD_14
+#  else
+#    define CXX_STD __cplusplus
+#  endif
+#elif __cplusplus == 1 && defined(__GXX_EXPERIMENTAL_CXX0X__)
+#  define CXX_STD CXX_STD_11
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if CXX_STD > CXX_STD_23
+  "26"
+#elif CXX_STD > CXX_STD_20
+  "23"
+#elif CXX_STD > CXX_STD_17
+  "20"
+#elif CXX_STD > CXX_STD_14
+  "17"
+#elif CXX_STD > CXX_STD_11
+  "14"
+#elif CXX_STD >= CXX_STD_11
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#if defined(COMPILER_VERSION_INTERNAL) || defined(COMPILER_VERSION_INTERNAL_STR)
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}

HiveCoreR2/build/hive_core_r2/CMakeFiles/CMakeConfigureLog.yaml

@@ -0,0 +1,578 @@
+
+---
+events:
+  -
+    kind: "message-v1"
+    backtrace:
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineSystem.cmake:205 (message)"
+      - "CMakeLists.txt:2 (project)"
+    message: |
+      The system is: Linux - 6.8.0-64-generic - x86_64
+  -
+    kind: "message-v1"
+    backtrace:
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
+      - "/home/hivecore/.local/lib/python3.10/site-packages/cmake/data/share/cmake-4.0/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
+      - "CMakeLists.txt:2 (project)"
+    message: |
+      Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
+      Compiler: /usr/bin/cc 
+      Build flags: 
+      Id flags:  
+      
+      The output was:
+      0
+      
+      
+      Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
+      
+      The C compiler identification is GNU, found in:
+        /home/hivecore/ros2_ws/softwaresystem/HiveCoreR2/build/hive_core_r2/CMakeFiles/4.0.3/CompilerIdC/a.out
+      
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