手臂控制测试版本

HiveCoreR0/.vscode/c_cpp_properties.json

@@ -0,0 +1,21 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/usr/include/**",
+                "/usr/local/include",
+                "/usr/local/etherlab/include",
+                "~/ros2_humble/src/**",
+                "/opt/ros/humble/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/g++",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

HiveCoreR0/.vscode/settings.json

@@ -1,6 +1,87 @@
 {
     "files.associations": {
+        "map": "cpp",
+        "unordered_map": "cpp",
+        "string": "cpp",
+        "vector": "cpp",
+        "dense": "cpp",
+        "core": "cpp",
+        "cholesky": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csetjmp": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "cinttypes": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "coroutine": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "set": "cpp",
+        "unordered_set": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "source_location": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
         "ostream": "cpp",
-        "cmath": "cpp"
+        "scoped_allocator": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "span": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp"
     }
 }

HiveCoreR1/.vscode/c_cpp_properties.json

@@ -0,0 +1,24 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/src/**",
+                "${workspaceFolder}/include/",
+                "${workspaceFolder}/install/**",
+                "/usr/include/**",
+                "/usr/local/include",
+                "/usr/local/etherlab/include",
+                "~/ros2_humble/src/**",
+                "/opt/ros/humble/**",
+                "/opt/ros/humble/include/graph_msgs/"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/g++",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

HiveCoreR1/.vscode/settings.json

@@ -0,0 +1,87 @@
+{
+    "files.associations": {
+        "map": "cpp",
+        "unordered_map": "cpp",
+        "string": "cpp",
+        "vector": "cpp",
+        "dense": "cpp",
+        "core": "cpp",
+        "cholesky": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csetjmp": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "cinttypes": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "coroutine": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "set": "cpp",
+        "unordered_set": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "source_location": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "scoped_allocator": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "span": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp"
+    }
+}

HiveCoreR1/include/arm_define.h

@@ -0,0 +1,32 @@
+#ifndef ARM_DEFINE_H
+#define ARM_DEFINE_H
+
+#define USED_ARM_DOF                (6)
+
+#define MAX_ARM_GOAL_COUNT 16
+
+typedef enum {
+    ARM_COMMAND_TYPE_ANGLE_STEP_ON = 0,
+    ARM_COMMAND_TYPE_POSE_STEP_ON,
+    ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE,
+    ARM_COMMAND_TYPE_POSE_DIRECT_MOVE,
+    ARM_COMMAND_TYPE_ERR
+} ArmCommandTypeE;
+
+typedef enum {
+    POSE_POSITION_X = 0,
+    POSE_POSITION_Y,
+    POSE_POSITION_Z,
+    POSE_EULER_ROLL,
+    POSE_EULER_PITCH,
+    POSE_EULER_YAW,
+    POSE_DIMENSION, // should be 6
+} PoseDimensionE;
+
+typedef enum {
+    LEFT_ARM = 0,
+    RIGHT_ARM,
+    ARM_ID_ERR
+} ArmIdE;
+
+#endif // ARM_DEFINE_H

HiveCoreR1/include/rm_define.h

@@ -9,7 +9,7 @@ extern "C" {
 #include <stdbool.h>
 #include <stdarg.h>
 
-#define ARM_DOF                     6
+#define ARM_DOF                     7
 #define M_PI		                3.14159265358979323846
 
 #define RM_MOVE_NBLOCK  0                                          ///<机械臂运动设置，非阻塞模式

HiveCoreR1/src/arm_description/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.10)
+project(arm_description)
+
+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(urdf REQUIRED)
+find_package(xacro REQUIRED)
+
+install(
+  DIRECTORY launch urdf meshes  # 安装 launch、urdf、meshes 目录
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

HiveCoreR1/src/arm_description/launch/display_robot.launch.py

@@ -0,0 +1,92 @@
+# 导入 ROS 2 launch 相关模块
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import OpaqueFunction
+import os
+
+'''
+def get_new_body_part(context, part_name):
+    # 这里可以根据需要返回不同的部件配置
+    package_share = FindPackageShare(package='arm_description').perform(context)
+    
+    # 构建URDF文件的实际路径
+    urdf_path = PathJoinSubstitution(
+        [package_share, 'urdf', part_name + '.urdf']  # 替换为你的URDF路径
+    ).perform(context)
+    
+    # 读取URDF文件内容
+    with open(urdf_path, 'r') as f:
+        urdf_content = f.read()
+    
+    # 创建机器人状态发布器节点
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name=part_name + '_state_publisher',
+        parameters=[{part_name + '_description': urdf_content}],
+        remappings=[('/joint_states', '/' + part_name + '_joint_states')]
+    )
+    return robot_state_publisher
+    '''
+
+def load_urdf(context, *args, **kwargs):
+    nodeList = []
+
+    # 获取包的共享目录路径（解析为实际字符串）
+    package_share = FindPackageShare(package='arm_description').perform(context)
+    
+    # 构建URDF文件的实际路径
+    urdf_path = PathJoinSubstitution(
+        [package_share, 'urdf', 'rm_65_b_description.urdf']  # 替换为你的URDF路径
+    ).perform(context)
+    
+    # 读取URDF文件内容
+    with open(urdf_path, 'r') as f:
+        urdf_content = f.read()
+    
+    # 创建机器人状态发布器节点
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{'robot_description': urdf_content}]
+    )
+    nodeList.append(robot_state_publisher)
+    
+    '''    
+    # nodeList.append(get_new_body_part(context, 'rm_65_b'))
+    nodeList.append(get_new_body_part(context, 'robot'))
+    nodeList.append(get_new_body_part(context, 'leftarm'))
+    nodeList.append(get_new_body_part(context, 'rightarm'))
+    '''
+
+    '''joint_state_gui = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+    )
+    nodeList.append(joint_state_gui)'''
+    
+    # 创建RViz节点（可选）
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=[
+            '-d', os.path.join(
+                FindPackageShare('arm_description').find('arm_description'),
+                'launch', 'robot_view.rviz'  # 保存的RViz配置文件路径
+            )
+        ],
+        parameters=[{
+            # 这里可以设置一些RViz参数
+        }]
+    )
+    nodeList.append(rviz_node)
+    
+    return nodeList
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=load_urdf)
+    ])

HiveCoreR1/src/arm_description/launch/robot_view.rviz

@@ -0,0 +1,239 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        LeftLink1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LeftLink2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LeftLink3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LeftLink4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LeftLink5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LeftLink6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        RightLink1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RightLink2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RightLink3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RightLink4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RightLink5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RightLink6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link_leftarm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link_rightarm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 1192
+  Y: 203

HiveCoreR1/src/arm_description/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arm_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="zj@todo.todo">zj</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>urdf</depend>
+  <depend>xacro</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz2</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

HiveCoreR1/src/arm_description/urdf/leftarm.urdf

@@ -0,0 +1,402 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm_description">
+  <link name="base_link" />
+  <link
+    name="base_link_leftarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 -1.57" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_arm_joint" type="fixed">
+    <origin
+      xyz="0.1255 0 0.42"
+      rpy="0 1.5708 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_leftarm" />
+  </joint>
+  <link
+    name="LeftLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_leftarm" />
+    <child
+      link="LeftLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="LeftLink1" />
+    <child
+      link="LeftLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="LeftLink2" />
+    <child
+      link="LeftLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink3" />
+    <child
+      link="LeftLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="LeftLink4" />
+    <child
+      link="LeftLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink5" />
+    <child
+      link="LeftLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+</robot>

HiveCoreR1/src/arm_description/urdf/rightarm.urdf

@@ -0,0 +1,402 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm_description">
+  <link name="base_link" />
+  <link
+    name="base_link_rightarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 -1.57" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_arm_joint" type="fixed">
+    <origin
+      xyz="-0.1255 0 0.42"
+      rpy="0 -1.5708 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_rightarm" />
+  </joint>
+  <link
+    name="RightLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_rightarm" />
+    <child
+      link="RightLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="RightLink1" />
+    <child
+      link="RightLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="RightLink2" />
+    <child
+      link="RightLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink3" />
+    <child
+      link="RightLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="RightLink4" />
+    <child
+      link="RightLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink5" />
+    <child
+      link="RightLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+</robot>

HiveCoreR1/src/arm_description/urdf/rm_65_b.urdf

@@ -0,0 +1,827 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm_description">
+  <link name="world" />
+  <link
+    name="base_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="world_to_base" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+  </joint>
+  <link
+    name="base_link_leftarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 -1.57" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_arm_joint" type="fixed">
+    <origin
+      xyz="0.1255 0 0.42"
+      rpy="0 1.5708 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_leftarm" />
+  </joint>
+  <link
+    name="LeftLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_leftarm" />
+    <child
+      link="LeftLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="LeftLink1" />
+    <child
+      link="LeftLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="LeftLink2" />
+    <child
+      link="LeftLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink3" />
+    <child
+      link="LeftLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="LeftLink4" />
+    <child
+      link="LeftLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink5" />
+    <child
+      link="LeftLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="base_link_rightarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 -1.57" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 -1.57" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_arm_joint" type="fixed">
+    <origin
+      xyz="-0.1255 0 0.42"
+      rpy="0 -1.5708 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_rightarm" />
+  </joint>
+  <link
+    name="RightLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_rightarm" />
+    <child
+      link="RightLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="RightLink1" />
+    <child
+      link="RightLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="RightLink2" />
+    <child
+      link="RightLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink3" />
+    <child
+      link="RightLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="RightLink4" />
+    <child
+      link="RightLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink5" />
+    <child
+      link="RightLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+</robot>

HiveCoreR1/src/arm_description/urdf/rm_65_b_description copy.urdf

@@ -0,0 +1,827 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm_description">
+  <link name="world" />
+  <link
+    name="base_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="world_to_base" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+  </joint>
+  <link
+    name="base_link_leftarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 0" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_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="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_arm_joint" type="fixed">
+    <origin
+      xyz="0.1255 0 0.42"
+      rpy="0 1.5708 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_leftarm" />
+  </joint>
+  <link
+    name="LeftLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_leftarm" />
+    <child
+      link="LeftLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="LeftLink1" />
+    <child
+      link="LeftLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="LeftLink2" />
+    <child
+      link="LeftLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink3" />
+    <child
+      link="LeftLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="LeftLink4" />
+    <child
+      link="LeftLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink5" />
+    <child
+      link="LeftLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="base_link_rightarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 0" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_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="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_arm_joint" type="fixed">
+    <origin
+      xyz="-0.1255 0 0.42"
+      rpy="0 -1.5708 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_rightarm" />
+  </joint>
+  <link
+    name="RightLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_rightarm" />
+    <child
+      link="RightLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="RightLink1" />
+    <child
+      link="RightLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="RightLink2" />
+    <child
+      link="RightLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink3" />
+    <child
+      link="RightLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="RightLink4" />
+    <child
+      link="RightLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink5" />
+    <child
+      link="RightLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+</robot>

HiveCoreR1/src/arm_description/urdf/rm_65_b_description.csv

@@ -0,0 +1,8 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.00043233,-3.2765E-05,0.059942,0,0,0,0.84108,0.0017261,2.4864E-06,-3.6752E-05,0.0017099,1.7199E-06,0.00090404,0,0,0,0,0,0,package://arm_description/meshes/base_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/base_link.STL,,____1-1,baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Link1,1.4691E-07,0.021109,-0.025186,0,0,0,0.59356,0.0012661,-1.2313E-08,-1.0057E-08,0.0011817,-0.00021122,0.00056135,0,0,0,0,0,0,package://arm_description/meshes/Link1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/Link1.STL,,____2-1,Link1,axis1,joint1,revolute,0,0,0.2405,0,0,0,base_link,0,0,-1,100,1,-3.107,3.107,,,,,,,,
+Link2,0.15226,4.2545E-07,-0.0062026,0,0,0,0.86418,0.00063253,-8.795E-09,0.00042163,0.0020527,2.3725E-09,0.0019528,0,0,0,0,0,0,package://arm_description/meshes/Link2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/Link2.STL,,____3-1;____4-1,Link2,axis2,joint2,revolute,0,0,0,1.5708,-1.5708,0,Link1,0,0,1,100,1,-2.269,2.269,,,,,,,,
+Link3,4.7938E-06,-0.059593,0.010569,0,0,0,0.28965,0.00063737,-5.9726E-08,-3.3299E-08,0.00015649,-0.00014461,0.00061418,0,0,0,0,0,0,package://arm_description/meshes/Link3.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/Link3.STL,,____5-1,Link3,axis3,joint3,revolute,0.256,0,0,0,0,1.5708,Link2,0,0,1,100,1,-2.356,2.356,,,,,,,,
+Link4,1.0293E-06,-0.018042,-0.021539,0,0,0,0.23942,0.00028594,2.854E-09,-1.9592E-09,0.00026273,4.4237E-05,0.00011989,0,0,0,0,0,0,package://arm_description/meshes/Link4.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/Link4.STL,,____6-1,Link4,axis4,joint4,revolute,0,-0.21,0,1.5708,0,0,Link3,0,0,1,100,1,-3.107,3.107,,,,,,,,
+Link5,3.4528E-06,-0.059382,0.0073678,0,0,0,0.21879,0.00035053,-3.165E-08,-1.7434E-08,0.00010492,-7.824E-05,0.00033447,0,0,0,0,0,0,package://arm_description/meshes/Link5.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/Link5.STL,,____7-1,Link5,axis5,joint5,revolute,0,0,0,-1.5708,0,0,Link4,0,0,1,100,1,-2.234,2.234,,,,,,,,
+Link6,0.00081643,1.3288E-05,-0.012705,0,0,0,0.065035,2.1143E-05,-2.2878E-08,-2.5601E-08,1.811E-05,-1.0178E-08,3.19E-05,0,0,0,0,0,0,package://arm_description/meshes/Link6.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_description/meshes/Link6.STL,,__________ ______-1,Link6,axis6,joint6,revolute,0,-0.144,0,1.5708,0,0,Link5,0,0,1,100,1,-6.283,6.283,,,,,,,,

HiveCoreR1/src/arm_description/urdf/rm_65_b_description.urdf

@@ -0,0 +1,827 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm_description">
+  <link name="world" />
+  <link
+    name="base_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="world_to_base" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+  </joint>
+  <link
+    name="base_link_leftarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 0" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_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="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_arm_joint" type="fixed">
+    <origin
+      xyz="-0.1255 0 0.42"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_leftarm" />
+  </joint>
+  <link
+    name="LeftLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_leftarm" />
+    <child
+      link="LeftLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="LeftLink1" />
+    <child
+      link="LeftLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="LeftLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="LeftLink2" />
+    <child
+      link="LeftLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink3" />
+    <child
+      link="LeftLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="LeftLink4" />
+    <child
+      link="LeftLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="LeftLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="LeftLink5" />
+    <child
+      link="LeftLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="base_link_rightarm">
+    <inertial>
+      <origin
+        xyz="-0.000433277303987328 -3.54664423471128E-05 0.0599427668933796"
+        rpy="0 0 0" />
+      <mass
+        value="0.841070778135659" />
+      <inertia
+        ixx="0.0017261110801622"
+        ixy="2.52746264980217E-06"
+        ixz="-3.67690303614961E-05"
+        iyy="0.00170987405835604"
+        iyz="1.67996364994424E-06"
+        izz="0.000904023422915791" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/base_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="package://arm_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_arm_joint" type="fixed">
+    <origin
+      xyz="0.1255 0 0.42"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_link_rightarm" />
+  </joint>
+  <link
+    name="RightLink1">
+    <inertial>
+      <origin
+        xyz="1.2226305431569E-08 0.0211079974844683 -0.0251854220842269"
+        rpy="0 0 0" />
+      <mass
+        value="0.593563443690403" />
+      <inertia
+        ixx="0.00126614120341847"
+        ixy="-1.294980943835E-08"
+        ixz="-9.80120923066996E-09"
+        iyy="0.00118168178300364"
+        iyz="-0.00021121727444415"
+        izz="0.00056135241627747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link1.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="package://arm_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link_rightarm" />
+    <child
+      link="RightLink1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink2">
+    <inertial>
+      <origin
+        xyz="0.152256463426163 4.75383656106654E-07 -0.00620260383607792"
+        rpy="0 0 0" />
+      <mass
+        value="0.864175046869043" />
+      <inertia
+        ixx="0.00089150298478414"
+        ixy="-2.23268489334765E-08"
+        ixz="0.00156246461035015"
+        iyy="0.00733754343083901"
+        iyz="6.28110889329165E-09"
+        izz="0.00697869103915473" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link2.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="package://arm_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="RightLink1" />
+    <child
+      link="RightLink2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.268"
+      upper="2.268"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="RightLink3">
+    <inertial>
+      <origin
+        xyz="5.05312670989961E-06 -0.0595925663694732 0.010569069212336"
+        rpy="0 0 0" />
+      <mass
+        value="0.289633681624654" />
+      <inertia
+        ixx="0.00063737100450158"
+        ixy="-7.05261293649751E-08"
+        ixz="-3.86643272239426E-08"
+        iyy="0.00015648388095025"
+        iyz="-0.00014461035994916"
+        izz="0.000614178164773085" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link3.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="package://arm_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint3"
+    type="revolute">
+    <origin
+      xyz="0.256 0 0"
+      rpy="0 0 1.5708" />
+    <parent
+      link="RightLink2" />
+    <child
+      link="RightLink3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.355"
+      upper="2.355"
+      effort="30"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink4">
+    <inertial>
+      <origin
+        xyz="1.15516617405898E-06 -0.0180424468598241 -0.0215394748352687"
+        rpy="0 0 0" />
+      <mass
+        value="0.239419768320061" />
+      <inertia
+        ixx="0.000285938919722783"
+        ixy="3.07101359163101E-09"
+        ixz="-2.21994118981953E-09"
+        iyy="0.000262727540304212"
+        iyz="4.4236583260078E-05"
+        izz="0.000119888082791859" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link4.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="package://arm_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink3" />
+    <child
+      link="RightLink4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.1"
+      upper="3.1"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink5">
+    <inertial>
+      <origin
+        xyz="3.19794786262152E-06 -0.0593808368101458 0.00736804250989326"
+        rpy="0 0 0" />
+      <mass
+        value="0.218799761431678" />
+      <inertia
+        ixx="0.000350540363914072"
+        ixy="-3.41781619975602E-08"
+        ixz="-1.77056457224373E-08"
+        iyy="0.000104927867487581"
+        iyz="-7.82431228461971E-05"
+        izz="0.000334482418423629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link5.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="package://arm_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="RightLink4" />
+    <child
+      link="RightLink5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.233"
+      upper="2.233"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+  <link
+    name="RightLink6">
+    <inertial>
+      <origin
+        xyz="0.000714234511756999 -0.000396718732824521 -0.0126723660946126"
+        rpy="0 0 0" />
+      <mass
+        value="0.0649018034311231" />
+      <inertia
+        ixx="2.02766547502765E-05"
+        ixy="-1.32505200276849E-06"
+        ixz="-2.5845091522508E-08"
+        iyy="1.87986725225022E-05"
+        iyz="3.39471452125439E-09"
+        izz="3.17885459163081E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_description/meshes/link6.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="package://arm_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_joint6"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="RightLink5" />
+    <child
+      link="RightLink6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.92" />
+  </joint>
+</robot>

HiveCoreR1/src/arm_description/urdf/robot.urdf

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm_description">
+  <link name="world" />
+  <link
+    name="base_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.251 0.1 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="world_to_base" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+  </joint>
+</robot>

HiveCoreR1/src/arm_keyboard_input/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(arm_keyboard_input)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+add_compile_options(-g)
+
+include_directories(
+  include
+  ../../include
+  ${EIGEN3_INCLUDE_DIRS}  # 引入Eigen3的头文件路径
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# 设置源文件
+set(SOURCES
+    src/arm_keyboard_node.cpp
+)
+
+add_executable(keyBoardInputer ${SOURCES})
+ament_target_dependencies(keyBoardInputer rclcpp std_msgs)
+
+install(TARGETS
+  keyBoardInputer
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

HiveCoreR1/src/arm_keyboard_input/LICENSE

@@ -0,0 +1,202 @@
+
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HiveCoreR1/src/arm_keyboard_input/include/arm_keyboard_node.hpp

@@ -0,0 +1,19 @@
+#ifndef ARM_KEYBOARD_NODE_HPP
+#define ARM_KEYBOARD_NODE_HPP
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64_multi_array.hpp"
+#include "arm_define.h"
+#include "rm_define.h"
+
+class ArmKeyboardNode: public rclcpp::Node
+{
+public:
+    ArmKeyboardNode();
+    ~ArmKeyboardNode();
+    static rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr leftArmAimPub_;
+    static rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr rightArmAimPub_;
+    std::atomic<bool> exit_flag;
+};
+
+#endif // ARM_KEYBOARD_NODE_HPP

HiveCoreR1/src/arm_keyboard_input/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arm_keyboard_input</name>
+  <version>0.0.0</version>
+  <description>arm_keyboard_input</description>
+  <maintainer email="zj@todo.todo">zj</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

HiveCoreR1/src/arm_keyboard_input/src/arm_keyboard_node.cpp

@@ -0,0 +1,98 @@
+#include <thread>
+#include <sstream>
+#include <iostream>
+#include <chrono>
+#include <mutex>
+#include <string>
+#include "arm_keyboard_node.hpp"
+
+rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr ArmKeyboardNode::leftArmAimPub_;
+rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr ArmKeyboardNode::rightArmAimPub_;
+
+std::thread inputThread_;
+std::mutex armAimMutex_;
+
+static void ListenInputThread(std::shared_ptr<ArmKeyboardNode> armNode) {
+    std::string line;
+    auto message = std_msgs::msg::Float64MultiArray();
+    message.data.resize(ARM_DOF);
+    while (rclcpp::ok()) {
+        std::cout << "请输入: 整数(0(退出)/1(左臂)/2(右臂)),6个float,用','分割,以';'结尾:" << std::endl;
+        std::getline(std::cin, line, ';');
+        std::istringstream ss(line);
+        std::string token;
+        int mode;
+        float values[USED_ARM_DOF];
+        bool valid = true;
+
+        // 解析整数
+        if (!std::getline(ss, token, ',')) { valid = false; }
+        else {
+            try {
+                mode = std::stoi(token);
+                if (mode != 0 && mode != 1 && mode != 2) valid = false;
+            } catch (...) { valid = false; }
+        }
+
+        // 解析6个float
+        for (int i = 0; i < USED_ARM_DOF && valid; ++i) {
+            if (!std::getline(ss, token, ',')) { valid = false; break; }
+            try {
+                values[i] = std::stof(token);
+            } catch (...) { valid = false; }
+        }
+
+        if (mode == 0) {
+            std::cout << "退出输入监听线程。" << std::endl;
+            armNode->exit_flag = true;
+            break;
+        }
+
+        if (valid) {
+            std::lock_guard<std::mutex> lock(armAimMutex_);
+            for (int i = 0; i < USED_ARM_DOF && i < ARM_DOF; ++i) {
+                message.data[i] = values[i];
+            }
+            if (mode == 1) {
+                armNode->leftArmAimPub_->publish(message);
+            } else if (mode == 2) {
+                armNode->rightArmAimPub_->publish(message);
+            }
+        } else {
+            std::cout << "输入格式错误,请重试。" << std::endl;
+        }
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+}
+
+ArmKeyboardNode::ArmKeyboardNode() : Node("arm_keyboard_node")
+{
+    leftArmAimPub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>("left_arm_command", 10);
+    rightArmAimPub_ = this->create_publisher<std_msgs::msg::Float64MultiArray>("right_arm_command", 10);
+    exit_flag = false;
+}
+
+ArmKeyboardNode::~ArmKeyboardNode()
+{
+    if (inputThread_.joinable()) {
+        inputThread_.join(); // 或 join()，视你的需求
+    }
+    rightArmAimPub_.reset();
+    leftArmAimPub_.reset();
+}
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::Node::SharedPtr node = std::make_shared<ArmKeyboardNode>();
+    std::shared_ptr<ArmKeyboardNode> armNode = std::dynamic_pointer_cast<ArmKeyboardNode>(node);
+    // 启动输入监听线程
+    inputThread_ = std::thread(ListenInputThread, armNode);
+    while (rclcpp::ok() && !armNode->exit_flag) {
+        rclcpp::spin_some(node); // 处理所有待处理的事件
+        std::this_thread::sleep_for(std::chrono::milliseconds(10)); // 短暂休眠，降低CPU占用
+    }
+    rclcpp::shutdown();
+
+    return 0;
+}

HiveCoreR1/src/common_action_interface/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.8)
+project(common_action_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Arm.action"
+)
+
+ament_package()

HiveCoreR1/src/common_action_interface/action/Arm.action

@@ -0,0 +1,14 @@
+int8 body_id
+int8 data_type
+int16 data_length
+int64 command_id
+float64[] data_array
+---
+int64 start_time
+int64 end_time
+---
+int64 command_id
+int16 int_lenth
+int16 float_length
+int32[] int_data_array
+float64[] float_data_array

HiveCoreR1/src/common_action_interface/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>common_action_interface</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="zj@todo.todo">zj</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>action_msgs</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

HiveCoreR1/src/common_msg/CMakeLists.txt

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

HiveCoreR1/src/common_msg/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

HiveCoreR1/src/common_msg/msg/ArmCommnd.msg

@@ -0,0 +1,5 @@
+int8 body_id
+int8 data_type
+int16 data_length
+int32 command_id
+float64[] data_array

HiveCoreR1/src/common_msg/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>common_msg</name>
+  <version>0.0.0</version>
+  <description>common_msg</description>
+  <maintainer email="zj@todo.todo">zj</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

HiveCoreR1/src/gjk_interface/CMakeLists.txt

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.8)
+project(gjk_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+add_compile_options(-g)
+
+find_package(ament_cmake REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 REQUIRED)  # 查找Eigen3库
+
+add_library(${PROJECT_NAME} SHARED
+  src/gjk_interface.cpp
+)
+
+ament_target_dependencies(gjk_interface
+  Eigen3
+)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+install(TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_include_directories(include)
+
+ament_package()

HiveCoreR1/src/gjk_interface/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

HiveCoreR1/src/gjk_interface/include/gjk_interface.hpp

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

HiveCoreR1/src/gjk_interface/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>gjk_interface</name>
+  <version>0.0.0</version>
+  <description>gjk_interface</description>
+  <maintainer email="zj@todo.todo">zj</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>Eigen3</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

HiveCoreR1/src/gjk_interface/src/gjk_interface.cpp

@@ -0,0 +1,243 @@
+#include "math.h"
+#include "gjk_interface.hpp"
+
+#define POLY_SIMPLIFY_MAX_SIZE 4
+using namespace Eigen;
+
+namespace gjk_interface {
+    const Vector3d support(const std::vector<Vector3d>& poly, const Vector3d& dir)
+    {
+        float maxDot = -INFINITY;
+        Vector3d supportPoint;
+
+        for (const Vector3d& p : poly) {
+            float dot = p.dot(dir);
+            if (dot > maxDot) {
+                maxDot = dot;
+                supportPoint = p;
+            }
+        }
+
+        return supportPoint;
+    }
+
+    Vector3d supportMinkowski(const std::vector<Vector3d>& polyA, const std::vector<Vector3d>& polyB, Vector3d& dir)
+    {
+        Vector3d simplexPoint = support(polyA, dir);
+        const Vector3d oppositeDir = dir * -1;
+        simplexPoint = simplexPoint - support(polyB, oppositeDir);
+        return simplexPoint;
+    }
+
+    Vector3d checkLineSegment3D(const Vector3d& v0, const Vector3d& v1) {
+        Vector3d a = v1 - v0;      // 线段方向向量
+        Vector3d b = -v1;          // 从v1到原点的向量
+        
+        float aDotA = a.dot(a);
+        Vector3d bParallel = a * (a.dot(b) / aDotA);  // 平行投影
+        Vector3d bPerp = b - bParallel;               // 垂直投影（新方向）
+        
+        return bPerp;
+    }
+
+    Vector3d GetNormalToOri(const Vector3d& a, const Vector3d& b, const Vector3d& c) {
+        Vector3d ab = b - a;
+        Vector3d ac = c - a;
+        Vector3d ad = -a;
+
+        Vector3d n_initial = ab.cross(ac);
+        Vector3d n_outer = (n_initial.dot(ad) < 0) ? -n_initial : n_initial;
+        return n_outer;
+    }
+
+    Vector3d GetDir(const std::vector<Vector3d>& simplex) {
+        if (simplex.size() == 1) {
+            return -simplex[0];
+        } else if (simplex.size() == 2) {
+            return checkLineSegment3D(simplex[0], simplex[1]);
+        } else if (simplex.size() == 3) {
+            return GetNormalToOri(simplex[0], simplex[1], simplex[2]);
+        }
+        return Vector3d(0, 0, 0);
+    }
+
+    bool CheckTetrahedronHaveZero(const std::vector<Vector3d>& simplex) {
+        Vector3d A = simplex[0];
+        Vector3d B = simplex[1];
+        Vector3d C = simplex[2];
+        Vector3d D = simplex[3];  // 最新点（面ABC的对
+        // 构造线性方程组 Ax = b（求解alpha, beta, gamma）
+        Matrix3d mat;
+        mat.col(0) = A - D;  // x1-x4, y1-y4, z1-z4
+        mat.col(1) = B - D;  // x2-x4, y2-y4, z2-z4
+        mat.col(2) = C - D;  // x3-x4, y3-y4, z3-z4
+        Vector3d b = -D;     // -x4, -y4, -z4
+
+        // 求解方程组：mat * [alpha; beta; gamma] = b
+        if (mat.determinant() == 0) {
+            return true;
+        }
+        Vector3d x = mat.inverse() * b;
+        float alpha = x(0), beta = x(1), gamma = x(2);
+        float delta = 1 - alpha - beta - gamma;
+
+        // 判定4个权重是否均为正（允许1e-6误差）
+        const float eps = 1e-6;
+        return (alpha > eps) && (beta > eps) && (gamma > eps) && (delta > eps);
+    }
+
+    bool CheckTetrahedronHaveZero2(const std::vector<Vector3d>& simplex) {
+        Vector3d A = simplex[0];
+        Vector3d B = simplex[1];
+        Vector3d C = simplex[2];
+        Vector3d D = simplex[3];  // 最新点（面ABC的对
+        // 构造线性方程组 Ax = b（求解alpha, beta, gamma）
+        auto scalar_triple = [](const Vector3d& a, const Vector3d& b, const Vector3d& c) {
+            return a.dot(b.cross(c));  // Eigen封装了叉积和点积，底层运算与手动计算一致
+        };
+
+        double v0 = scalar_triple(B, C, D);
+        double v1 = scalar_triple(A, C, D);
+        double v2 = scalar_triple(A, B, D);
+        double v3 = scalar_triple(A, B, C);
+
+        // 判断所有符号是否一致（均正或均负）
+        bool all_positive = (v0 > 0) && (v1 > 0) && (v2 > 0) && (v3 > 0);
+        bool all_negative = (v0 < 0) && (v1 < 0) && (v2 < 0) && (v3 < 0);
+
+        return all_positive || all_negative;
+    }
+
+    bool gjkCollisionJudge(const std::vector<Vector3d>& polyA, const std::vector<Vector3d>& polyB)
+    {
+        // 初始搜索方向（从A中心指向B中心）
+        Vector3d centerA(0, 0, 0), centerB(0, 0, 0);
+        for (const auto& p : polyA) {
+            centerA = centerA + p;
+        }
+        for (const auto& p : polyB) {
+            centerB = centerB + p;
+        }
+        centerA = centerA / polyA.size();
+        centerB = centerB / polyA.size();
+        Vector3d dir = centerB - centerA;
+
+        // 初始化单纯形
+        std::vector<Vector3d> simplex;
+        Vector3d newPoint = supportMinkowski(polyA, polyB, dir);
+        simplex.push_back(newPoint);
+
+        int maxIndex = 3;
+        while (true) {
+            dir = GetDir(simplex);
+            if (dir.dot(dir) < 1e-6) {
+                return true;
+            }
+            newPoint = supportMinkowski(polyA, polyB, dir);
+            if (newPoint.dot(newPoint) < 1e-6) {
+                return true;
+            }
+            if (newPoint.dot(dir) < -(1e-6)) {
+                return false;
+            }
+            simplex.push_back(newPoint);
+            if (simplex.size() == POLY_SIMPLIFY_MAX_SIZE) {
+                bool haveZero = CheckTetrahedronHaveZero2(simplex);
+                if (haveZero) {
+                    return true;
+                } else {
+                    float maxLength = 0;
+                    for (size_t i = 0; i < POLY_SIMPLIFY_MAX_SIZE; i++) {
+                        Vector3d simplexPoint = simplex[i];
+                        float newLength = simplexPoint.dot(simplexPoint);
+                        if (maxLength < newLength) {
+                            maxLength = newLength;
+                            maxIndex = i;
+                        }
+                    }
+                    simplex.erase(simplex.begin() + maxIndex);
+                }
+            }
+        }
+
+        return false;
+    }
+
+    // 从8个顶点提取OBB参数
+    OBB createOBBFromVertices(const std::vector<Eigen::Vector3d>& vertices,
+        const float length, const float width, const float height) {
+        if (vertices.size() != 8) {
+            throw std::invalid_argument("OBB创建失败:必须输入8个顶点");
+        }
+
+        OBB obb;
+
+        obb.center = (vertices[1] + vertices[2] + vertices[4] - vertices[0]) * (1.0 / 2.0);
+
+        // 正交化（格拉姆-施密特过程），确保3条轴正交
+        obb.axis[0] = vertices[1] - vertices[0];
+        obb.axis[1] = vertices[2] - vertices[0];
+        obb.axis[2] = vertices[4] - vertices[0];
+
+        obb.halfExtent[0] = length * (1.0 / 2.0);
+        obb.halfExtent[1] = width * (1.0 / 2.0);
+        obb.halfExtent[2] = height * (1.0 / 2.0);
+
+        return obb;
+    }
+
+    // 计算OBB在指定轴上的投影范围（min, max）
+    std::pair<double, double> projectOBB(const OBB& obb, const Vector3d& axis) {
+        // OBB中心在轴上的投影
+        double centerProj = obb.center.dot(axis);
+        // OBB沿轴的总投影长度（半长在轴上的投影之和）
+        double totalExtent = 0.0;
+        for (int i = 0; i < 3; ++i) {
+            totalExtent += obb.halfExtent[i] * fabs(obb.axis[i].dot(axis));
+        }
+        return { centerProj - totalExtent, centerProj + totalExtent };
+    }
+
+    // 判断两个投影范围是否重叠
+    bool areProjectionsOverlapping(double aMin, double aMax, double bMin, double bMax) {
+        return !(aMax < bMin - 1e-6 || bMax < aMin - 1e-6);  // 1e-6为浮点误差容限
+    }
+
+    // OBB碰撞检测主函数（输入：两个长方体的8个顶点，共16个）
+    bool checkOBBCollision(const OBB &obb1, const OBB &obb2) {
+
+        // 2. 定义所有需要检查的分离轴（共15条）
+        std::vector<Vector3d> separationAxes;
+
+        // 2.3 两个OBB轴的两两叉积（3×3=9条）
+        for (int i = 0; i < 3; ++i) {
+            for (int j = 0; j < 3; ++j) {
+                Vector3d crossAxis = obb1.axis[i].cross(obb2.axis[j]);
+                if (crossAxis.dot(crossAxis) > 1e-6) {  // 排除零向量（轴平行时叉积为零）
+                    separationAxes.push_back(crossAxis);
+                }
+            }
+        }
+        // 2.1 第一个OBB的3条轴
+        for (int i = 0; i < 3; ++i) {
+            separationAxes.push_back(obb1.axis[i]);
+        }
+        // 2.2 第二个OBB的3条轴
+        for (int i = 0; i < 3; ++i) {
+            separationAxes.push_back(obb2.axis[i]);
+        }
+
+        // 3. 检查所有分离轴的投影重叠情况
+        for (const auto& axis : separationAxes) {
+            auto [aMin, aMax] = projectOBB(obb1, axis);
+            auto [bMin, bMax] = projectOBB(obb2, axis);
+            if (!areProjectionsOverlapping(aMin, aMax, bMin, bMax)) {
+                // 找到分离轴，判定为不碰撞
+                return false;
+            }
+        }
+
+        // 所有轴均重叠，判定为碰撞
+        return true;
+    }
+}

HiveCoreR1/src/rm_arm_control/CMakeLists.txt

@@ -8,15 +8,22 @@ set(CMAKE_C_STANDARD 11)
 if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
     add_compile_options(-Wno-define-redefinition)
 endif()
+add_compile_options(-g)
 
 # 依赖
 find_package(ament_cmake REQUIRED)
 find_package(Eigen3 REQUIRED)  # 查找Eigen3库
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(control_msgs REQUIRED)
+find_package(common_msg REQUIRED)
+find_package(gjk_interface REQUIRED)
+find_package(common_action_interface REQUIRED)
+find_package(moveit_core REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
 
 include_directories(
   include
@@ -28,6 +35,7 @@ include_directories(
 set(SOURCES
     src/rm_arm_handler.cpp
     src/rm_arm_node.cpp
+    src/rm_arm_simulator.cpp
 )
 
 # 添加可执行文件
@@ -35,26 +43,31 @@ add_executable(rm_arm_control ${SOURCES})
 
 ament_target_dependencies(rm_arm_control 
   rclcpp
+  rclcpp_action
   geometry_msgs 
   sensor_msgs
   trajectory_msgs
   control_msgs
+  common_msg
+  gjk_interface
+  common_action_interface
+  moveit_core
+  moveit_ros_planning_interface
 )
 
 # 查找库
-find_library(RMAN_API_LIB NAMES api_cpp PATHS "${CMAKE_CURRENT_SOURCE_DIR}/Robotic_Arm/lib")
-
+find_library(RMAN_API_LIB NAMES api_cpp PATHS "${CMAKE_CURRENT_SOURCE_DIR}/../../lib")
 
 # 链接库
 target_link_libraries(rm_arm_control ${RMAN_API_LIB})
 # 包含目录
-target_include_directories(rm_arm_control PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/Robotic_Arm/include")
+target_include_directories(rm_arm_control PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../../include")
 
 # 如果是 UNIX 平台且不是 ARM 平台，确保动态库文件可以在运行时被找到（这一步通常不是必须的，但在某些配置下可能需要）
 if(UNIX)
     add_custom_command(TARGET rm_arm_control POST_BUILD
             COMMAND ${CMAKE_COMMAND} -E copy_if_different
-            "${CMAKE_CURRENT_SOURCE_DIR}/Robotic_Arm/lib/libapi_cpp.so"
+            "${CMAKE_CURRENT_SOURCE_DIR}/../../lib/libapi_cpp.so"
             $<TARGET_FILE_DIR:rm_arm_control>)
 endif()
 
@@ -62,6 +75,13 @@ install(TARGETS
   rm_arm_control
   DESTINATION lib/${PROJECT_NAME})
 
+# 安装第三方库到安装目录(重要)
+install(DIRECTORY
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../lib
+  DESTINATION lib/..
+  FILES_MATCHING PATTERN "*.so*"
+)
+
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}/
 )

HiveCoreR1/src/rm_arm_control/build/CMakeCache.txt

@@ -0,0 +1,712 @@
+# This is the CMakeCache file.
+# For build in directory: /home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Generate environment files in the CMAKE_INSTALL_PREFIX
+AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
+
+//Generate environment files in the package share folder
+AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
+
+//Generate marker file containing the parent prefix path
+AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
+
+//Generate an uninstall target to revert the effects of the install
+// step
+AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
+
+//The path where test results are generated
+AMENT_TEST_RESULTS_DIR:PATH=/home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build/test_results
+
+//Build the testing tree.
+BUILD_TESTING:BOOL=ON
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=rm_arm_control
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//The directory containing a CMake configuration file for Eigen3.
+Eigen3_DIR:PATH=/usr/share/eigen3/cmake
+
+//Path to a library.
+FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND
+
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+
+#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(_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(__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     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_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(__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(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 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
+
+#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(__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
+
+#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 "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# 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["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "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
+#ifdef COMPILER_VERSION_INTERNAL
+  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

HiveCoreR1/src/rm_arm_control/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,791 @@
+/* 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(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif 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(__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(_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(__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     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_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(__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(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 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
+
+#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"
+
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+# Perforce options
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+P4Client: 
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+P4UpdateCustom: 
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+# Testing options
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+# to complete during testing.  After TimeOut seconds, the
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+# Currently set to 25 minutes
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+# During parallel testing CTest will not start a new test if doing
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+# warning, if you add new options here that have to do with submit,
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HiveCoreR1/src/rm_arm_control/build/CTestCustom.cmake

@@ -0,0 +1,2 @@
+set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0)
+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)

HiveCoreR1/src/rm_arm_control/build/CTestTestfile.cmake

@@ -0,0 +1,6 @@
+# CMake generated Testfile for 
+# Source directory: /home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control
+# Build directory: /home/zj/hivecore_robot_os/HiveCoreR1/src/rm_arm_control/build
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.

HiveCoreR1/src/rm_arm_control/build/Makefile

@@ -0,0 +1,296 @@
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+
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+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
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+# Special rule for the target install/strip
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
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+# The main all target
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+# The main clean target
+clean/fast: clean
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+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
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+# Prepare targets for installation.
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+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
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+# clear depends
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+
+#=============================================================================
+# Target rules for targets named uninstall
+
+# Build rule for target.
+uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 uninstall
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+# fast build rule for target.
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+#=============================================================================
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+# Build rule for target.
+rm_arm_control_uninstall: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 rm_arm_control_uninstall
+.PHONY : rm_arm_control_uninstall
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+# fast build rule for target.
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+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 rm_arm_control
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+.PHONY : src/rm_arm_handler.o
+
+# target to build an object file
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+.PHONY : src/rm_arm_node.cpp.s
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+# Help Target
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+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
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+	@echo "... rm_arm_control"
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+	@echo "... src/rm_arm_node.o"
+	@echo "... src/rm_arm_node.i"
+	@echo "... src/rm_arm_node.s"
+.PHONY : help
+
+
+
+#=============================================================================
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+.PHONY : cmake_check_build_system
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HiveCoreR1/src/rm_arm_control/build/ament_cmake_core/package.cmake

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

HiveCoreR1/src/rm_arm_control/build/ament_cmake_core/rm_arm_controlConfig-version.cmake

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

HiveCoreR1/src/rm_arm_control/build/ament_cmake_core/rm_arm_controlConfig.cmake

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

HiveCoreR1/src/rm_arm_control/build/ament_cmake_core/stamps/ament_prefix_path.sh.stamp

@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"