diff --git a/Piper_ros_private-ros-noetic/.idea/inspectionProfiles/profiles_settings.xml b/Piper_ros_private-ros-noetic/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000000000000000000000000000000000000..105ce2da2d6447d11dfe32bfb846c3d5b199fc99 --- /dev/null +++ b/Piper_ros_private-ros-noetic/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/Piper_ros_private-ros-noetic/devel/share/piper_msgs/cmake/piper_msgsConfig.cmake b/Piper_ros_private-ros-noetic/devel/share/piper_msgs/cmake/piper_msgsConfig.cmake new file mode 100644 index 0000000000000000000000000000000000000000..a3dba420fc86847e4caffc209f985a60359e9a63 --- /dev/null +++ b/Piper_ros_private-ros-noetic/devel/share/piper_msgs/cmake/piper_msgsConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${ARGN}" STREQUAL "") + if(${listname}) + list(REMOVE_ITEM ${listname} ${ARGN}) + endif() + list(APPEND ${listname} ${ARGN}) + endif() +endmacro() + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# pack a list of libraries with optional build configuration keywords +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_pack_libraries_with_build_configuration VAR) + set(${VAR} "") + set(_argn ${ARGN}) + list(LENGTH _argn _count) + set(_index 0) + while(${_index} LESS ${_count}) + list(GET _argn ${_index} lib) + if("${lib}" MATCHES "^(debug|optimized|general)$") + math(EXPR _index "${_index} + 1") + if(${_index} EQUAL ${_count}) + message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") + endif() + list(GET _argn ${_index} library) + list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") + else() + list(APPEND ${VAR} "${lib}") + endif() + math(EXPR _index "${_index} + 1") + endwhile() +endmacro() + +# unpack a list of libraries with optional build configuration keyword prefixes +# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig +# self contained +macro(_unpack_libraries_with_build_configuration VAR) + set(${VAR} "") + foreach(lib ${ARGN}) + string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") + list(APPEND ${VAR} "${lib}") + endforeach() +endmacro() + + +if(piper_msgs_CONFIG_INCLUDED) + return() +endif() +set(piper_msgs_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(piper_msgs_SOURCE_PREFIX /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper_msgs) + set(piper_msgs_DEVEL_PREFIX /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel) + set(piper_msgs_INSTALL_PREFIX "") + set(piper_msgs_PREFIX ${piper_msgs_DEVEL_PREFIX}) +else() + set(piper_msgs_SOURCE_PREFIX "") + set(piper_msgs_DEVEL_PREFIX "") + set(piper_msgs_INSTALL_PREFIX /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/install) + set(piper_msgs_PREFIX ${piper_msgs_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'piper_msgs' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(piper_msgs_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel/include " STREQUAL " ") + set(piper_msgs_INCLUDE_DIRS "") + set(_include_dirs "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel/include") + if(NOT " " STREQUAL " ") + set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") + elseif(NOT " " STREQUAL " ") + set(_report "Check the website '' for information and consider reporting the problem.") + else() + set(_report "Report the problem to the maintainer 'agilex ' and request to fix the problem.") + endif() + foreach(idir ${_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif("${idir} " STREQUAL "include ") + get_filename_component(include "${piper_msgs_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'piper_msgs' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'piper_msgs' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper_msgs/${idir}'. ${_report}") + endif() + _list_append_unique(piper_msgs_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, target names and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND piper_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND piper_msgs_LIBRARIES ${library}) + elseif(${library} MATCHES "^-") + # This is a linker flag/option (like -pthread) + # There's no standard variable for these, so create an interface library to hold it + if(NOT piper_msgs_NUM_DUMMY_TARGETS) + set(piper_msgs_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::piper_msgs::wrapped-linker-option${piper_msgs_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR piper_msgs_NUM_DUMMY_TARGETS "${piper_msgs_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::piper_msgs::wrapped-linker-option${piper_msgs_NUM_DUMMY_TARGETS}") + endwhile() + add_library("${interface_target_name}" INTERFACE IMPORTED) + if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") + set_property( + TARGET + "${interface_target_name}" + APPEND PROPERTY + INTERFACE_LINK_LIBRARIES "${library}") + else() + target_link_options("${interface_target_name}" INTERFACE "${library}") + endif() + list(APPEND piper_msgs_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND piper_msgs_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND piper_msgs_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel/lib;/home/agilex/cobot_magic/camera_ws/devel/lib;/home/agilex/agilex_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(piper_msgs_LIBRARY_DIRS ${lib_path}) + list(APPEND piper_msgs_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'piper_msgs'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND piper_msgs_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(piper_msgs_EXPORTED_TARGETS "piper_msgs_generate_messages_cpp;piper_msgs_generate_messages_eus;piper_msgs_generate_messages_lisp;piper_msgs_generate_messages_nodejs;piper_msgs_generate_messages_py") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${piper_msgs_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "actionlib;actionlib_msgs;control_msgs;roscpp;rospy;sensor_msgs;std_msgs;trajectory_msgs;message_generation;geometry_msgs") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 piper_msgs_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${piper_msgs_dep}_FOUND) + find_package(${piper_msgs_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${piper_msgs_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(piper_msgs_INCLUDE_DIRS ${${piper_msgs_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(piper_msgs_LIBRARIES ${piper_msgs_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${piper_msgs_dep}_LIBRARIES}) + _list_append_deduplicate(piper_msgs_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(piper_msgs_LIBRARIES ${piper_msgs_LIBRARIES}) + + _list_append_unique(piper_msgs_LIBRARY_DIRS ${${piper_msgs_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(piper_msgs_EXPORTED_TARGETS ${${piper_msgs_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "piper_msgs-msg-extras.cmake") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${piper_msgs_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PiperStatusMsg.l b/Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PiperStatusMsg.l new file mode 100644 index 0000000000000000000000000000000000000000..ba6d0c8102a94acbb4d69f5a936f724ef3ec91be --- /dev/null +++ b/Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PiperStatusMsg.l @@ -0,0 +1,300 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'piper_msgs::PiperStatusMsg) + (if (not (find-package "PIPER_MSGS")) + (make-package "PIPER_MSGS")) + (shadow 'PiperStatusMsg (find-package "PIPER_MSGS"))) +(unless (find-package "PIPER_MSGS::PIPERSTATUSMSG") + (make-package "PIPER_MSGS::PIPERSTATUSMSG")) + +(in-package "ROS") +;;//! \htmlinclude PiperStatusMsg.msg.html + + +(defclass piper_msgs::PiperStatusMsg + :super ros::object + :slots (_ctrl_mode _arm_status _mode_feedback _teach_status _motion_status _trajectory_num _err_code _joint_1_angle_limit _joint_2_angle_limit _joint_3_angle_limit _joint_4_angle_limit _joint_5_angle_limit _joint_6_angle_limit _communication_status_joint_1 _communication_status_joint_2 _communication_status_joint_3 _communication_status_joint_4 _communication_status_joint_5 _communication_status_joint_6 )) + +(defmethod piper_msgs::PiperStatusMsg + (:init + (&key + ((:ctrl_mode __ctrl_mode) 0) + ((:arm_status __arm_status) 0) + ((:mode_feedback __mode_feedback) 0) + ((:teach_status __teach_status) 0) + ((:motion_status __motion_status) 0) + ((:trajectory_num __trajectory_num) 0) + ((:err_code __err_code) 0) + ((:joint_1_angle_limit __joint_1_angle_limit) nil) + ((:joint_2_angle_limit __joint_2_angle_limit) nil) + ((:joint_3_angle_limit __joint_3_angle_limit) nil) + ((:joint_4_angle_limit __joint_4_angle_limit) nil) + ((:joint_5_angle_limit __joint_5_angle_limit) nil) + ((:joint_6_angle_limit __joint_6_angle_limit) nil) + ((:communication_status_joint_1 __communication_status_joint_1) nil) + ((:communication_status_joint_2 __communication_status_joint_2) nil) + ((:communication_status_joint_3 __communication_status_joint_3) nil) + ((:communication_status_joint_4 __communication_status_joint_4) nil) + ((:communication_status_joint_5 __communication_status_joint_5) nil) + ((:communication_status_joint_6 __communication_status_joint_6) nil) + ) + (send-super :init) + (setq _ctrl_mode (round __ctrl_mode)) + (setq _arm_status (round __arm_status)) + (setq _mode_feedback (round __mode_feedback)) + (setq _teach_status (round __teach_status)) + (setq _motion_status (round __motion_status)) + (setq _trajectory_num (round __trajectory_num)) + (setq _err_code (round __err_code)) + (setq _joint_1_angle_limit __joint_1_angle_limit) + (setq _joint_2_angle_limit __joint_2_angle_limit) + (setq _joint_3_angle_limit __joint_3_angle_limit) + (setq _joint_4_angle_limit __joint_4_angle_limit) + (setq _joint_5_angle_limit __joint_5_angle_limit) + (setq _joint_6_angle_limit __joint_6_angle_limit) + (setq _communication_status_joint_1 __communication_status_joint_1) + (setq _communication_status_joint_2 __communication_status_joint_2) + (setq _communication_status_joint_3 __communication_status_joint_3) + (setq _communication_status_joint_4 __communication_status_joint_4) + (setq _communication_status_joint_5 __communication_status_joint_5) + (setq _communication_status_joint_6 __communication_status_joint_6) + self) + (:ctrl_mode + (&optional __ctrl_mode) + (if __ctrl_mode (setq _ctrl_mode __ctrl_mode)) _ctrl_mode) + (:arm_status + (&optional __arm_status) + (if __arm_status (setq _arm_status __arm_status)) _arm_status) + (:mode_feedback + (&optional __mode_feedback) + (if __mode_feedback (setq _mode_feedback __mode_feedback)) _mode_feedback) + (:teach_status + (&optional __teach_status) + (if __teach_status (setq _teach_status __teach_status)) _teach_status) + (:motion_status + (&optional __motion_status) + (if __motion_status (setq _motion_status __motion_status)) _motion_status) + (:trajectory_num + (&optional __trajectory_num) + (if __trajectory_num (setq _trajectory_num __trajectory_num)) _trajectory_num) + (:err_code + (&optional __err_code) + (if __err_code (setq _err_code __err_code)) _err_code) + (:joint_1_angle_limit + (&optional (__joint_1_angle_limit :null)) + (if (not (eq __joint_1_angle_limit :null)) (setq _joint_1_angle_limit __joint_1_angle_limit)) _joint_1_angle_limit) + (:joint_2_angle_limit + (&optional (__joint_2_angle_limit :null)) + (if (not (eq __joint_2_angle_limit :null)) (setq _joint_2_angle_limit __joint_2_angle_limit)) _joint_2_angle_limit) + (:joint_3_angle_limit + (&optional (__joint_3_angle_limit :null)) + (if (not (eq __joint_3_angle_limit :null)) (setq _joint_3_angle_limit __joint_3_angle_limit)) _joint_3_angle_limit) + (:joint_4_angle_limit + (&optional (__joint_4_angle_limit :null)) + (if (not (eq __joint_4_angle_limit :null)) (setq _joint_4_angle_limit __joint_4_angle_limit)) _joint_4_angle_limit) + (:joint_5_angle_limit + (&optional (__joint_5_angle_limit :null)) + (if (not (eq __joint_5_angle_limit :null)) (setq _joint_5_angle_limit __joint_5_angle_limit)) _joint_5_angle_limit) + (:joint_6_angle_limit + (&optional (__joint_6_angle_limit :null)) + (if (not (eq __joint_6_angle_limit :null)) (setq _joint_6_angle_limit __joint_6_angle_limit)) _joint_6_angle_limit) + (:communication_status_joint_1 + (&optional (__communication_status_joint_1 :null)) + (if (not (eq __communication_status_joint_1 :null)) (setq _communication_status_joint_1 __communication_status_joint_1)) _communication_status_joint_1) + (:communication_status_joint_2 + (&optional (__communication_status_joint_2 :null)) + (if (not (eq __communication_status_joint_2 :null)) (setq _communication_status_joint_2 __communication_status_joint_2)) _communication_status_joint_2) + (:communication_status_joint_3 + (&optional (__communication_status_joint_3 :null)) + (if (not (eq __communication_status_joint_3 :null)) (setq _communication_status_joint_3 __communication_status_joint_3)) _communication_status_joint_3) + (:communication_status_joint_4 + (&optional (__communication_status_joint_4 :null)) + (if (not (eq __communication_status_joint_4 :null)) (setq _communication_status_joint_4 __communication_status_joint_4)) _communication_status_joint_4) + (:communication_status_joint_5 + (&optional (__communication_status_joint_5 :null)) + (if (not (eq __communication_status_joint_5 :null)) (setq _communication_status_joint_5 __communication_status_joint_5)) _communication_status_joint_5) + (:communication_status_joint_6 + (&optional (__communication_status_joint_6 :null)) + (if (not (eq __communication_status_joint_6 :null)) (setq _communication_status_joint_6 __communication_status_joint_6)) _communication_status_joint_6) + (:serialization-length + () + (+ + ;; uint8 _ctrl_mode + 1 + ;; uint8 _arm_status + 1 + ;; uint8 _mode_feedback + 1 + ;; uint8 _teach_status + 1 + ;; uint8 _motion_status + 1 + ;; uint8 _trajectory_num + 1 + ;; int64 _err_code + 8 + ;; bool _joint_1_angle_limit + 1 + ;; bool _joint_2_angle_limit + 1 + ;; bool _joint_3_angle_limit + 1 + ;; bool _joint_4_angle_limit + 1 + ;; bool _joint_5_angle_limit + 1 + ;; bool _joint_6_angle_limit + 1 + ;; bool _communication_status_joint_1 + 1 + ;; bool _communication_status_joint_2 + 1 + ;; bool _communication_status_joint_3 + 1 + ;; bool _communication_status_joint_4 + 1 + ;; bool _communication_status_joint_5 + 1 + ;; bool _communication_status_joint_6 + 1 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; uint8 _ctrl_mode + (write-byte _ctrl_mode s) + ;; uint8 _arm_status + (write-byte _arm_status s) + ;; uint8 _mode_feedback + (write-byte _mode_feedback s) + ;; uint8 _teach_status + (write-byte _teach_status s) + ;; uint8 _motion_status + (write-byte _motion_status s) + ;; uint8 _trajectory_num + (write-byte _trajectory_num s) + ;; int64 _err_code +#+(or :alpha :irix6 :x86_64) + (progn (sys::poke _err_code (send s :buffer) (send s :count) :long) (incf (stream-count s) 8)) +#-(or :alpha :irix6 :x86_64) + (cond ((and (class _err_code) (= (length (_err_code . bv)) 2)) ;; bignum + (write-long (ash (elt (_err_code . bv) 0) 0) s) + (write-long (ash (elt (_err_code . bv) 1) -1) s)) + ((and (class _err_code) (= (length (_err_code . bv)) 1)) ;; big1 + (write-long (elt (_err_code . bv) 0) s) + (write-long (if (>= _err_code 0) 0 #xffffffff) s)) + (t ;; integer + (write-long _err_code s)(write-long (if (>= _err_code 0) 0 #xffffffff) s))) + ;; bool _joint_1_angle_limit + (if _joint_1_angle_limit (write-byte -1 s) (write-byte 0 s)) + ;; bool _joint_2_angle_limit + (if _joint_2_angle_limit (write-byte -1 s) (write-byte 0 s)) + ;; bool _joint_3_angle_limit + (if _joint_3_angle_limit (write-byte -1 s) (write-byte 0 s)) + ;; bool _joint_4_angle_limit + (if _joint_4_angle_limit (write-byte -1 s) (write-byte 0 s)) + ;; bool _joint_5_angle_limit + (if _joint_5_angle_limit (write-byte -1 s) (write-byte 0 s)) + ;; bool _joint_6_angle_limit + (if _joint_6_angle_limit (write-byte -1 s) (write-byte 0 s)) + ;; bool _communication_status_joint_1 + (if _communication_status_joint_1 (write-byte -1 s) (write-byte 0 s)) + ;; bool _communication_status_joint_2 + (if _communication_status_joint_2 (write-byte -1 s) (write-byte 0 s)) + ;; bool _communication_status_joint_3 + (if _communication_status_joint_3 (write-byte -1 s) (write-byte 0 s)) + ;; bool _communication_status_joint_4 + (if _communication_status_joint_4 (write-byte -1 s) (write-byte 0 s)) + ;; bool _communication_status_joint_5 + (if _communication_status_joint_5 (write-byte -1 s) (write-byte 0 s)) + ;; bool _communication_status_joint_6 + (if _communication_status_joint_6 (write-byte -1 s) (write-byte 0 s)) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; uint8 _ctrl_mode + (setq _ctrl_mode (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _arm_status + (setq _arm_status (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _mode_feedback + (setq _mode_feedback (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _teach_status + (setq _teach_status (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _motion_status + (setq _motion_status (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; uint8 _trajectory_num + (setq _trajectory_num (sys::peek buf ptr- :char)) (incf ptr- 1) + ;; int64 _err_code +#+(or :alpha :irix6 :x86_64) + (setf _err_code (prog1 (sys::peek buf ptr- :long) (incf ptr- 8))) +#-(or :alpha :irix6 :x86_64) + (setf _err_code (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))) + (b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))) + (cond ((= b1 -1) b0) + ((and (= b1 0) + (<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum)) + b0) + ((= b1 0) (make-instance bignum :size 1 :bv (integer-vector b0))) + (t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1))))))) + ;; bool _joint_1_angle_limit + (setq _joint_1_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _joint_2_angle_limit + (setq _joint_2_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _joint_3_angle_limit + (setq _joint_3_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _joint_4_angle_limit + (setq _joint_4_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _joint_5_angle_limit + (setq _joint_5_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _joint_6_angle_limit + (setq _joint_6_angle_limit (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _communication_status_joint_1 + (setq _communication_status_joint_1 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _communication_status_joint_2 + (setq _communication_status_joint_2 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _communication_status_joint_3 + (setq _communication_status_joint_3 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _communication_status_joint_4 + (setq _communication_status_joint_4 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _communication_status_joint_5 + (setq _communication_status_joint_5 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; bool _communication_status_joint_6 + (setq _communication_status_joint_6 (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1) + ;; + self) + ) + +(setf (get piper_msgs::PiperStatusMsg :md5sum-) "18e0aaa943372aaa58f1495907dd9a17") +(setf (get piper_msgs::PiperStatusMsg :datatype-) "piper_msgs/PiperStatusMsg") +(setf (get piper_msgs::PiperStatusMsg :definition-) + "uint8 ctrl_mode +uint8 arm_status +uint8 mode_feedback +uint8 teach_status +uint8 motion_status +uint8 trajectory_num +int64 err_code +bool joint_1_angle_limit +bool joint_2_angle_limit +bool joint_3_angle_limit +bool joint_4_angle_limit +bool joint_5_angle_limit +bool joint_6_angle_limit +bool communication_status_joint_1 +bool communication_status_joint_2 +bool communication_status_joint_3 +bool communication_status_joint_4 +bool communication_status_joint_5 +bool communication_status_joint_6 + + +") + + + +(provide :piper_msgs/PiperStatusMsg "18e0aaa943372aaa58f1495907dd9a17") + + diff --git a/Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PosCmd.l b/Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PosCmd.l new file mode 100644 index 0000000000000000000000000000000000000000..35132c0806d02692e39ea6864913cfaeac9414db --- /dev/null +++ b/Piper_ros_private-ros-noetic/devel/share/roseus/ros/piper_msgs/msg/PosCmd.l @@ -0,0 +1,158 @@ +;; Auto-generated. Do not edit! + + +(when (boundp 'piper_msgs::PosCmd) + (if (not (find-package "PIPER_MSGS")) + (make-package "PIPER_MSGS")) + (shadow 'PosCmd (find-package "PIPER_MSGS"))) +(unless (find-package "PIPER_MSGS::POSCMD") + (make-package "PIPER_MSGS::POSCMD")) + +(in-package "ROS") +;;//! \htmlinclude PosCmd.msg.html + + +(defclass piper_msgs::PosCmd + :super ros::object + :slots (_x _y _z _roll _pitch _yaw _gripper _mode1 _mode2 )) + +(defmethod piper_msgs::PosCmd + (:init + (&key + ((:x __x) 0.0) + ((:y __y) 0.0) + ((:z __z) 0.0) + ((:roll __roll) 0.0) + ((:pitch __pitch) 0.0) + ((:yaw __yaw) 0.0) + ((:gripper __gripper) 0.0) + ((:mode1 __mode1) 0) + ((:mode2 __mode2) 0) + ) + (send-super :init) + (setq _x (float __x)) + (setq _y (float __y)) + (setq _z (float __z)) + (setq _roll (float __roll)) + (setq _pitch (float __pitch)) + (setq _yaw (float __yaw)) + (setq _gripper (float __gripper)) + (setq _mode1 (round __mode1)) + (setq _mode2 (round __mode2)) + self) + (:x + (&optional __x) + (if __x (setq _x __x)) _x) + (:y + (&optional __y) + (if __y (setq _y __y)) _y) + (:z + (&optional __z) + (if __z (setq _z __z)) _z) + (:roll + (&optional __roll) + (if __roll (setq _roll __roll)) _roll) + (:pitch + (&optional __pitch) + (if __pitch (setq _pitch __pitch)) _pitch) + (:yaw + (&optional __yaw) + (if __yaw (setq _yaw __yaw)) _yaw) + (:gripper + (&optional __gripper) + (if __gripper (setq _gripper __gripper)) _gripper) + (:mode1 + (&optional __mode1) + (if __mode1 (setq _mode1 __mode1)) _mode1) + (:mode2 + (&optional __mode2) + (if __mode2 (setq _mode2 __mode2)) _mode2) + (:serialization-length + () + (+ + ;; float64 _x + 8 + ;; float64 _y + 8 + ;; float64 _z + 8 + ;; float64 _roll + 8 + ;; float64 _pitch + 8 + ;; float64 _yaw + 8 + ;; float64 _gripper + 8 + ;; int32 _mode1 + 4 + ;; int32 _mode2 + 4 + )) + (:serialize + (&optional strm) + (let ((s (if strm strm + (make-string-output-stream (send self :serialization-length))))) + ;; float64 _x + (sys::poke _x (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; float64 _y + (sys::poke _y (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; float64 _z + (sys::poke _z (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; float64 _roll + (sys::poke _roll (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; float64 _pitch + (sys::poke _pitch (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; float64 _yaw + (sys::poke _yaw (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; float64 _gripper + (sys::poke _gripper (send s :buffer) (send s :count) :double) (incf (stream-count s) 8) + ;; int32 _mode1 + (write-long _mode1 s) + ;; int32 _mode2 + (write-long _mode2 s) + ;; + (if (null strm) (get-output-stream-string s)))) + (:deserialize + (buf &optional (ptr- 0)) + ;; float64 _x + (setq _x (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; float64 _y + (setq _y (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; float64 _z + (setq _z (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; float64 _roll + (setq _roll (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; float64 _pitch + (setq _pitch (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; float64 _yaw + (setq _yaw (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; float64 _gripper + (setq _gripper (sys::peek buf ptr- :double)) (incf ptr- 8) + ;; int32 _mode1 + (setq _mode1 (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; int32 _mode2 + (setq _mode2 (sys::peek buf ptr- :integer)) (incf ptr- 4) + ;; + self) + ) + +(setf (get piper_msgs::PosCmd :md5sum-) "1c57ab1c25d2c8b93367daa40ff13cae") +(setf (get piper_msgs::PosCmd :datatype-) "piper_msgs/PosCmd") +(setf (get piper_msgs::PosCmd :definition-) + "float64 x +float64 y +float64 z +float64 roll +float64 pitch +float64 yaw +float64 gripper +int32 mode1 +int32 mode2 +") + + + +(provide :piper_msgs/PosCmd "1c57ab1c25d2c8b93367daa40ff13cae") + + diff --git a/Piper_ros_private-ros-noetic/src/piper/launch/start_single_piper_rviz.launch b/Piper_ros_private-ros-noetic/src/piper/launch/start_single_piper_rviz.launch new file mode 100644 index 0000000000000000000000000000000000000000..0be176fabe5074ba9a3ee6754603c87d040ab5b1 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper/launch/start_single_piper_rviz.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/Piper_ros_private-ros-noetic/src/piper/scripts/piper_start_ms_node.py b/Piper_ros_private-ros-noetic/src/piper/scripts/piper_start_ms_node.py new file mode 100644 index 0000000000000000000000000000000000000000..cb5462de355334cfab5bf9484c68e86d65ddf343 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper/scripts/piper_start_ms_node.py @@ -0,0 +1,341 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 本文件为同时打开主从臂的节点，通过mode参数控制是读取还是控制 +# 默认认为从臂有夹爪 +# mode为0时为发送主从臂消息， +# mode为1时为控制从臂，不发送主臂消息，此时如果要控制从臂，需要给主臂的topic发送消息 +from typing import ( + Optional, +) +import rospy +import rosnode +from sensor_msgs.msg import JointState +from std_msgs.msg import Bool +import time +import threading +import argparse +import math +from piper_sdk import * +from piper_sdk import C_PiperInterface +from piper_msgs.msg import PiperStatusMsg, PosCmd +from geometry_msgs.msg import Pose,PoseStamped +from tf.transformations import quaternion_from_euler # 用于欧拉角到四元数的转换 + +def check_ros_master(): + try: + rosnode.rosnode_ping('rosout', max_count=1, verbose=False) + rospy.loginfo("ROS Master is running.") + except rosnode.ROSNodeIOException: + rospy.logerr("ROS Master is not running.") + raise RuntimeError("ROS Master is not running.") + +class C_PiperRosNode(): + """机械臂ros节点 + """ + def __init__(self) -> None: + check_ros_master() + rospy.init_node('piper_start_all_node', anonymous=True) + + self.can_port = "can0" + if rospy.has_param('~can_port'): + self.can_port = rospy.get_param("~can_port") + rospy.loginfo("%s is %s", rospy.resolve_name('~can_port'), self.can_port) + else: + rospy.loginfo("未找到can_port参数,请输入 _can_port:=can0 类似的格式") + exit(0) + # 模式，模式为1的时候，才能够控制从臂 + self.mode = 0 + if rospy.has_param('~mode'): + self.mode = rospy.get_param("~mode") + rospy.loginfo("%s is %s", rospy.resolve_name('~mode'), self.mode) + else: + rospy.loginfo("未找到mode参数,请输入 _mode:=0 类似的格式") + exit(0) + + # 是否自动使能，默认不自动使能，只有模式为1的时候才能够被设置为自动使能 + self.auto_enable = False + if rospy.has_param('~auto_enable'): + if(rospy.get_param("~auto_enable") and self.mode == 1): + self.auto_enable = True + rospy.loginfo("%s is %s", rospy.resolve_name('~auto_enable'), self.auto_enable) + # publish + self.joint_std_pub_puppet = rospy.Publisher('/puppet/joint_states', JointState, queue_size=1) + # 默认模式为0，读取主从臂消息 + if(self.mode == 0): + self.joint_std_pub_master = rospy.Publisher('/master/joint_states', JointState, queue_size=1) + self.arm_status_pub = rospy.Publisher('/puppet/arm_status', PiperStatusMsg, queue_size=1) + self.end_pose_pub = rospy.Publisher('/puppet/end_pose', PoseStamped, queue_size=1) + + self.__enable_flag = False + # 从臂消息 + self.joint_state_slave = JointState() + self.joint_state_slave.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'] + self.joint_state_slave.position = [0.0] * 7 + self.joint_state_slave.velocity = [0.0] * 7 + self.joint_state_slave.effort = [0.0] * 7 + # 主臂消息 + self.joint_state_master = JointState() + self.joint_state_master.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'] + self.joint_state_master.position = [0.0] * 7 + self.joint_state_master.velocity = [0.0] * 7 + self.joint_state_master.effort = [0.0] * 7 + + self.piper = C_PiperInterface(can_name=self.can_port) + self.piper.ConnectPort() + # 模式为1的时候，订阅控制消息 + if(self.mode == 1): + sub_pos_th = threading.Thread(target=self.SubPosThread) + sub_joint_th = threading.Thread(target=self.SubJointThread) + sub_enable_th = threading.Thread(target=self.SubEnableThread) + + sub_pos_th.daemon = True + sub_joint_th.daemon = True + sub_enable_th.daemon = True + + sub_pos_th.start() + sub_joint_th.start() + sub_enable_th.start() + + def GetEnableFlag(self): + return self.__enable_flag + + def Pubilsh(self): + """机械臂消息发布 + """ + rate = rospy.Rate(200) # 200 Hz + enable_flag = False + # 设置超时时间（秒） + timeout = 5 + # 记录进入循环前的时间 + start_time = time.time() + elapsed_time_flag = False + while not rospy.is_shutdown(): + if(self.auto_enable and self.mode == 1): + while not (enable_flag): + elapsed_time = time.time() - start_time + print("--------------------") + enable_flag = self.piper.GetArmLowSpdInfoMsgs().motor_1.foc_status.driver_enable_status and \ + self.piper.GetArmLowSpdInfoMsgs().motor_2.foc_status.driver_enable_status and \ + self.piper.GetArmLowSpdInfoMsgs().motor_3.foc_status.driver_enable_status and \ + self.piper.GetArmLowSpdInfoMsgs().motor_4.foc_status.driver_enable_status and \ + self.piper.GetArmLowSpdInfoMsgs().motor_5.foc_status.driver_enable_status and \ + self.piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status + print("使能状态:",enable_flag) + if(enable_flag): + self.__enable_flag = True + self.piper.EnableArm(7) + self.piper.GripperCtrl(0,1000,0x01, 0) + print("--------------------") + # 检查是否超过超时时间 + if elapsed_time > timeout: + print("超时....") + elapsed_time_flag = True + enable_flag = True + break + time.sleep(1) + pass + if(elapsed_time_flag): + print("程序自动使能超时,退出程序") + exit(0) + # 发布消息 + self.PublishSlaveArmJointAndGripper() + self.PublishSlaveArmState() + self.PublishSlaveArmEndPose() + # 模式为0的时候，发布主臂消息 + if(self.mode == 0): + self.PublishMasterArmJointAndGripper() + + rate.sleep() + + def PublishSlaveArmState(self): + arm_status = PiperStatusMsg() + arm_status.ctrl_mode = self.piper.GetArmStatus().arm_status.ctrl_mode + arm_status.arm_status = self.piper.GetArmStatus().arm_status.arm_status + arm_status.mode_feedback = self.piper.GetArmStatus().arm_status.mode_feed + arm_status.teach_status = self.piper.GetArmStatus().arm_status.teach_status + arm_status.motion_status = self.piper.GetArmStatus().arm_status.motion_status + arm_status.trajectory_num = self.piper.GetArmStatus().arm_status.trajectory_num + arm_status.err_code = self.piper.GetArmStatus().arm_status.err_code + arm_status.joint_1_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_1_angle_limit + arm_status.joint_2_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_2_angle_limit + arm_status.joint_3_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_3_angle_limit + arm_status.joint_4_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_4_angle_limit + arm_status.joint_5_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_5_angle_limit + arm_status.joint_6_angle_limit = self.piper.GetArmStatus().arm_status.err_status.joint_6_angle_limit + arm_status.communication_status_joint_1 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_1 + arm_status.communication_status_joint_2 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_2 + arm_status.communication_status_joint_3 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_3 + arm_status.communication_status_joint_4 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_4 + arm_status.communication_status_joint_5 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_5 + arm_status.communication_status_joint_6 = self.piper.GetArmStatus().arm_status.err_status.communication_status_joint_6 + self.arm_status_pub.publish(arm_status) + + def PublishSlaveArmEndPose(self): + # 末端位姿 + endpos = PoseStamped() + endpos.pose.position.x = self.piper.GetArmEndPoseMsgs().end_pose.X_axis/1000000 + endpos.pose.position.y = self.piper.GetArmEndPoseMsgs().end_pose.Y_axis/1000000 + endpos.pose.position.z = self.piper.GetArmEndPoseMsgs().end_pose.Z_axis/1000000 + roll = self.piper.GetArmEndPoseMsgs().end_pose.RX_axis/1000 + pitch = self.piper.GetArmEndPoseMsgs().end_pose.RY_axis/1000 + yaw = self.piper.GetArmEndPoseMsgs().end_pose.RZ_axis/1000 + roll = math.radians(roll) + pitch = math.radians(pitch) + yaw = math.radians(yaw) + quaternion = quaternion_from_euler(roll, pitch, yaw) + endpos.pose.orientation.x = quaternion[0] + endpos.pose.orientation.y = quaternion[1] + endpos.pose.orientation.z = quaternion[2] + endpos.pose.orientation.w = quaternion[3] + # 为末端位姿增加时间戳 + endpos.header.stamp = rospy.Time.now() + self.end_pose_pub.publish(endpos) + + def PublishSlaveArmJointAndGripper(self): + # 从臂反馈消息 + self.joint_state_slave.header.stamp = rospy.Time.now() + joint_0:float = (self.piper.GetArmJointMsgs().joint_state.joint_1/1000) * 0.017444 + joint_1:float = (self.piper.GetArmJointMsgs().joint_state.joint_2/1000) * 0.017444 + joint_2:float = (self.piper.GetArmJointMsgs().joint_state.joint_3/1000) * 0.017444 + joint_3:float = (self.piper.GetArmJointMsgs().joint_state.joint_4/1000) * 0.017444 + joint_4:float = (self.piper.GetArmJointMsgs().joint_state.joint_5/1000) * 0.017444 + joint_5:float = (self.piper.GetArmJointMsgs().joint_state.joint_6/1000) * 0.017444 + joint_6:float = self.piper.GetArmGripperMsgs().gripper_state.grippers_angle/1000000 + vel_0:float = self.piper.GetArmHighSpdInfoMsgs().motor_1.motor_speed/1000 + vel_1:float = self.piper.GetArmHighSpdInfoMsgs().motor_2.motor_speed/1000 + vel_2:float = self.piper.GetArmHighSpdInfoMsgs().motor_3.motor_speed/1000 + vel_3:float = self.piper.GetArmHighSpdInfoMsgs().motor_4.motor_speed/1000 + vel_4:float = self.piper.GetArmHighSpdInfoMsgs().motor_5.motor_speed/1000 + vel_5:float = self.piper.GetArmHighSpdInfoMsgs().motor_6.motor_speed/1000 + effort_6:float = self.piper.GetArmGripperMsgs().gripper_state.grippers_effort/1000 + self.joint_state_slave.position = [joint_0,joint_1, joint_2, joint_3, joint_4, joint_5,joint_6] # Example values + self.joint_state_slave.velocity = [vel_0, vel_1, vel_2, vel_3, vel_4, vel_5, 0.0] # Example values + self.joint_state_slave.effort[6] = effort_6 + self.joint_std_pub_puppet.publish(self.joint_state_slave) + + def PublishMasterArmJointAndGripper(self): + # 主臂控制消息 + self.joint_state_master.header.stamp = rospy.Time.now() + joint_0:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_1/1000) * 0.017444 + joint_1:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_2/1000) * 0.017444 + joint_2:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_3/1000) * 0.017444 + joint_3:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_4/1000) * 0.017444 + joint_4:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_5/1000) * 0.017444 + joint_5:float = (self.piper.GetArmJointCtrl().joint_ctrl.joint_6/1000) * 0.017444 + joint_6:float = self.piper.GetArmGripperCtrl().gripper_ctrl.grippers_angle/1000000 + self.joint_state_master.position = [joint_0,joint_1, joint_2, joint_3, joint_4, joint_5,joint_6] # Example values + self.joint_std_pub_master.publish(self.joint_state_master) + + def SubPosThread(self): + """机械臂末端位姿订阅 + + """ + rospy.Subscriber('pos_cmd', PosCmd, self.pos_callback) + rospy.spin() + + def SubJointThread(self): + """机械臂关节订阅 + + """ + rospy.Subscriber('/master/joint_states', JointState, self.joint_callback) + rospy.spin() + + def SubEnableThread(self): + """机械臂使能 + + """ + rospy.Subscriber('/enable_flag', Bool, self.enable_callback) + rospy.spin() + + def pos_callback(self, pos_data): + """机械臂末端位姿订阅回调函数 + + Args: + pos_data (): + """ + factor = 180 / 3.1415926 + x = round(pos_data.x*1000) * 1000 + y = round(pos_data.y*1000) * 1000 + z = round(pos_data.z*1000) * 1000 + rx = round(pos_data.roll*1000*factor) + ry = round(pos_data.pitch*1000*factor) + rz = round(pos_data.yaw*1000*factor) + rospy.loginfo("Received PosCmd:") + rospy.loginfo("x: %f", x) + rospy.loginfo("y: %f", y) + rospy.loginfo("z: %f", z) + rospy.loginfo("roll: %f", rx) + rospy.loginfo("pitch: %f", ry) + rospy.loginfo("yaw: %f", rz) + rospy.loginfo("gripper: %f", pos_data.gripper) + rospy.loginfo("mode1: %d", pos_data.mode1) + rospy.loginfo("mode2: %d", pos_data.mode2) + if(self.GetEnableFlag()): + self.piper.MotionCtrl_1(0x00, 0x00, 0x00) + self.piper.MotionCtrl_2(0x01, 0x00, 50) + self.piper.EndPoseCtrl(x, y, z, + rx, ry, rz) + gripper = round(pos_data.gripper*1000*1000) + if(pos_data.gripper>80000): gripper = 80000 + if(pos_data.gripper<0): gripper = 0 + if(self.girpper_exist): + self.piper.GripperCtrl(abs(gripper), 1000, 0x01, 0) + self.piper.MotionCtrl_2(0x01, 0x00, 50) + + def joint_callback(self, joint_data): + """机械臂关节角回调函数 + + Args: + joint_data (): + """ + factor = 57324.840764 #1000*180/3.14 + factor1 = 57.32484 + rospy.loginfo("Received Joint States:") + rospy.loginfo("joint_0: %f", joint_data.position[0]*1) + rospy.loginfo("joint_1: %f", joint_data.position[1]*1) + rospy.loginfo("joint_2: %f", joint_data.position[2]*1) + rospy.loginfo("joint_3: %f", joint_data.position[3]*1) + rospy.loginfo("joint_4: %f", joint_data.position[4]*1) + rospy.loginfo("joint_5: %f", joint_data.position[5]*1) + rospy.loginfo("joint_6: %f", joint_data.position[6]*1) + joint_0 = round(joint_data.position[0]*factor) + joint_1 = round(joint_data.position[1]*factor) + joint_2 = round(joint_data.position[2]*factor) + joint_3 = round(joint_data.position[3]*factor) + joint_4 = round(joint_data.position[4]*factor) + joint_5 = round(joint_data.position[5]*factor) + joint_6 = round(joint_data.position[6]*1000*1000) + if(joint_6>80000): joint_6 = 80000 + if(joint_6<0): joint_6 = 0 + if(self.GetEnableFlag()): + self.piper.MotionCtrl_2(0x01, 0x01, 100) + self.piper.JointCtrl(joint_0, joint_1, joint_2, + joint_3, joint_4, joint_5) + self.piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0) + self.piper.MotionCtrl_2(0x01, 0x01, 100) + pass + + def enable_callback(self, enable_flag:Bool): + """机械臂使能回调函数 + + Args: + enable_flag (): + """ + rospy.loginfo("Received enable flag:") + rospy.loginfo("enable_flag: %s", enable_flag.data) + if(enable_flag.data): + self.__enable_flag = True + self.piper.EnableArm(7) + self.piper.GripperCtrl(0,1000,0x01, 0) + else: + self.__enable_flag = False + self.piper.DisableArm(7) + self.piper.GripperCtrl(0,1000,0x00, 0) + +if __name__ == '__main__': + try: + piper_ms = C_PiperRosNode() + piper_ms.Pubilsh() + except rospy.ROSInterruptException: + pass + diff --git a/Piper_ros_private-ros-noetic/src/piper_description/config/joint_names_agx_arm_description.yaml b/Piper_ros_private-ros-noetic/src/piper_description/config/joint_names_agx_arm_description.yaml new file mode 100644 index 0000000000000000000000000000000000000000..942cc1bfc625c83ffbedc95d63c258de1650b5af --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/config/joint_names_agx_arm_description.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8', ] diff --git a/Piper_ros_private-ros-noetic/src/piper_description/config/piper_gazebo_control.yaml b/Piper_ros_private-ros-noetic/src/piper_description/config/piper_gazebo_control.yaml new file mode 100644 index 0000000000000000000000000000000000000000..05e241a281b3ca2aa8bf0d81dfefe2db4966b462 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/config/piper_gazebo_control.yaml @@ -0,0 +1,37 @@ +piper_description: + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 200 + + joint1_position_controller: + type: position_controllers/JointPositionController + joint: joint1 + pid: {p: 100.0, i: 0.01, d: 5.0} + joint2_position_controller: + type: position_controllers/JointPositionController + joint: joint2 + pid: {p: 100.0, i: 0.01, d: 5.0} + joint3_position_controller: + type: position_controllers/JointPositionController + joint: joint3 + pid: {p: 100.0, i: 0.01, d: 5.0} + joint4_position_controller: + type: position_controllers/JointPositionController + joint: joint4 + pid: {p: 100.0, i: 0.01, d: 5.0} + joint5_position_controller: + type: position_controllers/JointPositionController + joint: joint5 + pid: {p: 100.0, i: 0.01, d: 5.0} + joint6_position_controller: + type: position_controllers/JointPositionController + joint: joint6 + pid: {p: 100.0, i: 0.01, d: 5.0} + joint7_position_controller: + type: position_controllers/JointPositionController + joint: joint7 + pid: {p: 100, i: 0.001, d: 10.0} + joint8_position_controller: + type: position_controllers/JointPositionController + joint: joint8 + pid: {p: 100, i: 0.001, d: 10.0} diff --git a/Piper_ros_private-ros-noetic/src/piper_description/launch/piper_gazebo_controller.launch b/Piper_ros_private-ros-noetic/src/piper_description/launch/piper_gazebo_controller.launch new file mode 100644 index 0000000000000000000000000000000000000000..30a801506a14e082b15cb7066b990a07cc387249 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/launch/piper_gazebo_controller.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + diff --git a/Piper_ros_private-ros-noetic/src/piper_description/launch/rviz_ctrl_gazebo.launch b/Piper_ros_private-ros-noetic/src/piper_description/launch/rviz_ctrl_gazebo.launch new file mode 100644 index 0000000000000000000000000000000000000000..571efb9c1443dab1d4098398a1bf745c6a1485c1 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/launch/rviz_ctrl_gazebo.launch @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/Piper_ros_private-ros-noetic/src/piper_description/meshes/link7.STL b/Piper_ros_private-ros-noetic/src/piper_description/meshes/link7.STL new file mode 100644 index 0000000000000000000000000000000000000000..ef2a30ca89fe970588b4fdbfcf58e9ceb6b8565e Binary files /dev/null and b/Piper_ros_private-ros-noetic/src/piper_description/meshes/link7.STL differ diff --git a/Piper_ros_private-ros-noetic/src/piper_description/meshes/link8.STL b/Piper_ros_private-ros-noetic/src/piper_description/meshes/link8.STL new file mode 100644 index 0000000000000000000000000000000000000000..f8e75c1d7bc6e77b7cd2cc5d30ef773c88fc5e64 Binary files /dev/null and b/Piper_ros_private-ros-noetic/src/piper_description/meshes/link8.STL differ diff --git a/Piper_ros_private-ros-noetic/src/piper_description/package.xml b/Piper_ros_private-ros-noetic/src/piper_description/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..7ca54335437aeee7664463b99645f4d261fa9df4 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/package.xml @@ -0,0 +1,21 @@ + + piper_description + 1.0.0 + +

URDF Description package for piper_description

+

This package contains configuration data, 3D models and launch files +for piper_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/Piper_ros_private-ros-noetic/src/piper_description/rviz/piper_ctrl.rviz b/Piper_ros_private-ros-noetic/src/piper_description/rviz/piper_ctrl.rviz new file mode 100644 index 0000000000000000000000000000000000000000..80681c862550737e763b9a1999e5b6026cbb683b --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/rviz/piper_ctrl.rviz @@ -0,0 +1,184 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.985201120376587 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + 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: + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 72 + Y: 27 diff --git a/Piper_ros_private-ros-noetic/src/piper_description/scripts/rviz_ctrl_gazebo.py b/Piper_ros_private-ros-noetic/src/piper_description/scripts/rviz_ctrl_gazebo.py new file mode 100644 index 0000000000000000000000000000000000000000..53062d797b2a0571ff252ec06bfd77fb10c64bed --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/scripts/rviz_ctrl_gazebo.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Float64 + +class JointStateRelay: + def __init__(self): + rospy.init_node('rviz_ctrl_gazebo', anonymous=True) + + # 创建发布者来发布到每个关节的控制器话题 + self.joint1_pub = rospy.Publisher('/piper_description/joint1_position_controller/command', Float64, queue_size=2) + self.joint2_pub = rospy.Publisher('/piper_description/joint2_position_controller/command', Float64, queue_size=2) + self.joint3_pub = rospy.Publisher('/piper_description/joint3_position_controller/command', Float64, queue_size=2) + self.joint4_pub = rospy.Publisher('/piper_description/joint4_position_controller/command', Float64, queue_size=2) + self.joint5_pub = rospy.Publisher('/piper_description/joint5_position_controller/command', Float64, queue_size=2) + self.joint6_pub = rospy.Publisher('/piper_description/joint6_position_controller/command', Float64, queue_size=2) + self.joint7_pub = rospy.Publisher('/piper_description/joint7_position_controller/command', Float64, queue_size=2) + self.joint8_pub = rospy.Publisher('/piper_description/joint8_position_controller/command', Float64, queue_size=2) + + # 订阅/joint_states话题 + rospy.Subscriber('/joint_states', JointState, self.joint_states_callback) + + def joint_states_callback(self, msg): + # 假设joint_states中的关节名称和控制器的话题顺序一致 + # 如果顺序不同，需要进行映射 + try: + # 逐个发布到相应的话题 + self.joint1_pub.publish(msg.position[0]) + self.joint2_pub.publish(msg.position[1]) + self.joint3_pub.publish(msg.position[2]) + self.joint4_pub.publish(msg.position[3]) + self.joint5_pub.publish(msg.position[4]) + self.joint6_pub.publish(msg.position[5]) + self.joint7_pub.publish(msg.position[6]) + self.joint8_pub.publish(msg.position[7]) + except IndexError: + rospy.logerr("Received joint states do not match expected number of joints.") + + def run(self): + rospy.spin() + +if __name__ == '__main__': + try: + relay = JointStateRelay() + relay.run() + except rospy.ROSInterruptException: + pass diff --git a/Piper_ros_private-ros-noetic/src/piper_description/urdf/piper_description.csv b/Piper_ros_private-ros-noetic/src/piper_description/urdf/piper_description.csv new file mode 100644 index 0000000000000000000000000000000000000000..1ed76ea784202c7b2e3bcb270cfb19cedb96a5cf --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/urdf/piper_description.csv @@ -0,0 +1,10 @@ +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,-0.00973928490005031,1.8312708928633E-06,0.0410140167677137,0,0,0,0.162352169522719,0.000226592553127906,-7.33974356968813E-08,2.13221970218123E-06,0.000269447877479622,8.15167478685076E-09,0.000222318286704,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,,base_link-1,base_link_axis,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +link1,0.00131676031927021,0.000310288842008364,-0.00922874512303438,0,0,0,0.0978679932242825,7.76684558296781E-05,1.09084650459916E-07,-1.97480532432411E-06,9.24967780161546E-05,9.91284646834672E-07,8.24589062407806E-05,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,,link1-1,link1_axis,基准轴1,joint1,revolute,0,0,0.123,0,0,-1.5708,base_link,0,0,1,100,0,-3.14,3.14,,,,,,,, +link2,0.147615838821413,-0.0174259998251393,0.00175952516190707,0,0,0,0.289571136953082,0.000150112628108228,8.58974959950769E-05,-1.07428153464285E-06,0.00172585302855383,-9.93704792239686E-07,0.00177445942914759,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,,link2-1,link2_axis,基准轴2,joint2,revolute,0,0,0,1.5708,-0.10095,-1.5708,link1,0,0,-1,100,1,-3.14,3.14,,,,,,,, +link3,0.0156727246030052,0.104466514905741,0.000508486764144372,0,0,0,0.290583247455324,0.000221686352136266,-7.57426543992343E-06,-6.3700062772173E-07,0.000100859162015934,-8.16202696860781E-07,0.000241839316548946,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,,link3-1,link3_axis,基准轴3,joint3,revolute,0.28503,0,0,0,0,1.3826,link2,0,0,1,100,1,-3.14,3.14,,,,,,,, +link4,0.000276464622388145,-0.00102803669324853,-0.00472830700561612,0,0,0,0.127087348341362,3.82011730423098E-05,-4.92358351033589E-08,4.89589432983109E-08,4.87048555222491E-05,6.70802942486707E-08,4.10592077565155E-05,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,,link4-2,link4_axis,基准轴4,joint4,revolute,0.021984,0.25075,0,-1.5708,0,0,link3,0,0,-1,100,1,-3.14,3.14,,,,,,,, +link5,8.82261259100015E-05,0.056682908434204,-0.00196119077436732,0,0,0,0.144711209371719,4.39644269159173E-05,-3.59214840853815E-08,-1.89785003257649E-08,5.63173857792457E-05,-2.15407623722543E-07,4.88713595021005E-05,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,,link5-1,link5_axis,基准轴5,joint5,revolute,0,0,0,1.5708,-0.087266,0,link4,0,0,1,100,1,-3.14,3.14,,,,,,,, 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index 0000000000000000000000000000000000000000..a115620117b7afaef87b7c6d32d7044373c4651e --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_description/worlds/empty.world @@ -0,0 +1,29 @@ + + + + + + model://sun + + + + + model://ground_plane + + + + + 0.01 + 1 + 100 + 0 0 -9.8 + + + quick + 500 + 1.3 + + + + + \ No newline at end of file diff --git a/Piper_ros_private-ros-noetic/src/piper_msgs/msg/PiperStatusMsg.msg b/Piper_ros_private-ros-noetic/src/piper_msgs/msg/PiperStatusMsg.msg new file mode 100644 index 0000000000000000000000000000000000000000..149922d6705cb32bee6111aeecf7a6f71e3ca06d --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_msgs/msg/PiperStatusMsg.msg @@ -0,0 +1,20 @@ +uint8 ctrl_mode +uint8 arm_status +uint8 mode_feedback +uint8 teach_status +uint8 motion_status +uint8 trajectory_num +int64 err_code +bool joint_1_angle_limit +bool joint_2_angle_limit +bool joint_3_angle_limit +bool joint_4_angle_limit +bool joint_5_angle_limit +bool joint_6_angle_limit +bool communication_status_joint_1 +bool communication_status_joint_2 +bool communication_status_joint_3 +bool communication_status_joint_4 +bool communication_status_joint_5 +bool communication_status_joint_6 + diff --git a/Piper_ros_private-ros-noetic/src/piper_msgs/msg/PosCmd.msg b/Piper_ros_private-ros-noetic/src/piper_msgs/msg/PosCmd.msg new file mode 100644 index 0000000000000000000000000000000000000000..3ba5fd4e0b8eabbb0ad82e1fe058d170f373be47 --- /dev/null +++ b/Piper_ros_private-ros-noetic/src/piper_msgs/msg/PosCmd.msg @@ -0,0 +1,9 @@ +float64 x +float64 y +float64 z +float64 roll +float64 pitch +float64 yaw +float64 gripper +int32 mode1 +int32 mode2 \ No newline at end of file diff --git a/Piper_ros_private-ros-noetic/src/piper_mujoco/mujoco_description/meshes_mujoco/link7.STL b/Piper_ros_private-ros-noetic/src/piper_mujoco/mujoco_description/meshes_mujoco/link7.STL new file mode 100644 index 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0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/camera_ws/build/CMakeCache.txt b/camera_ws/build/CMakeCache.txt new file mode 100644 index 0000000000000000000000000000000000000000..d8fc8f8e80e09da1b6019cd0d2e6625ab96276e1 --- /dev/null +++ b/camera_ws/build/CMakeCache.txt @@ -0,0 +1,998 @@ +# This is the CMakeCache file. +# For build in directory: /home/agilex/cobot_magic/camera_ws/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 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+//Path to a library. +RT_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/librt.so + +//Enable debian style python package layout +SETUPTOOLS_DEB_LAYOUT:BOOL=ON + +//Set user wait point in startup (for debug) +SET_USER_BREAK_AT_STARTUP:BOOL=OFF + +//Name of the computer/site where compile is being run +SITE:STRING=AGX + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_FOCAL:BOOL=TRUE + +//Use rock chip MPP libary for hardware decode +USE_RK_MPP:BOOL=OFF + +//Use rock chip RGA libary for hardware decode +USE_RK_RGA:BOOL=OFF + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/src/googletest/googlemock/include/gmock/gmock.h + +//Path to a file. +_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc + +//Path to a file. +_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h + +//Path to a file. +_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc + +//Path to a file. +_path_name:FILEPATH=/home/agilex/cobot_magic/camera_ws/src/realsense-ros/realsense2_description/tests + +//The directory containing a CMake configuration file for actionlib. +actionlib_DIR:PATH=/opt/ros/noetic/share/actionlib/cmake + +//The directory containing a CMake configuration file for actionlib_msgs. +actionlib_msgs_DIR:PATH=/opt/ros/noetic/share/actionlib_msgs/cmake + +//Value Computed by CMake +astra_camera_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/ros_astra_camera + +//Dependencies for the target +astra_camera_LIB_DEPENDS:STATIC=general;-lOpenNI2;general;-L/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/include/openni2_redist/x64;general;/opt/ros/noetic/lib/libcv_bridge.so;general;/opt/ros/noetic/lib/libdynamic_reconfigure_config_init_mutex.so;general;/opt/ros/noetic/lib/libimage_geometry.so;general;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;general;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0;general;/opt/ros/noetic/lib/libimage_transport.so;general;/opt/ros/noetic/lib/libclass_loader.so;general;/usr/lib/x86_64-linux-gnu/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/noetic/lib/libroslib.so;general;/opt/ros/noetic/lib/librospack.so;general;/usr/lib/x86_64-linux-gnu/libpython3.8.so;general;/usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.71.0;general;/usr/lib/x86_64-linux-gnu/libtinyxml2.so;general;/opt/ros/noetic/lib/libtf2_ros.so;general;/opt/ros/noetic/lib/libactionlib.so;general;/opt/ros/noetic/lib/libtf2.so;general;/opt/ros/noetic/lib/libmessage_filters.so;general;/opt/ros/noetic/lib/libcamera_info_manager.so;general;/opt/ros/noetic/lib/libcamera_calibration_parsers.so;general;/opt/ros/noetic/lib/libroscpp.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.71.0;general;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0;general;/opt/ros/noetic/lib/librosconsole.so;general;/opt/ros/noetic/lib/librosconsole_log4cxx.so;general;/opt/ros/noetic/lib/librosconsole_backend_interface.so;general;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;general;/usr/lib/x86_64-linux-gnu/libboost_regex.so.1.71.0;general;/opt/ros/noetic/lib/libxmlrpcpp.so;general;/opt/ros/noetic/lib/libroscpp_serialization.so;general;/opt/ros/noetic/lib/librostime.so;general;/usr/lib/x86_64-linux-gnu/libboost_date_time.so.1.71.0;general;/opt/ros/noetic/lib/libcpp_common.so;general;/usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0;general;/usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0;general;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4;general;-lpthread;general;opencv_calib3d;general;opencv_core;general;opencv_dnn;general;opencv_features2d;general;opencv_flann;general;opencv_highgui;general;opencv_imgcodecs;general;opencv_imgproc;general;opencv_ml;general;opencv_objdetect;general;opencv_photo;general;opencv_stitching;general;opencv_video;general;opencv_videoio;general;opencv_aruco;general;opencv_bgsegm;general;opencv_bioinspired;general;opencv_ccalib;general;opencv_datasets;general;opencv_dnn_objdetect;general;opencv_dnn_superres;general;opencv_dpm;general;opencv_face;general;opencv_freetype;general;opencv_fuzzy;general;opencv_hdf;general;opencv_hfs;general;opencv_img_hash;general;opencv_line_descriptor;general;opencv_optflow;general;opencv_phase_unwrapping;general;opencv_plot;general;opencv_quality;general;opencv_reg;general;opencv_rgbd;general;opencv_saliency;general;opencv_shape;general;opencv_stereo;general;opencv_structured_light;general;opencv_superres;general;opencv_surface_matching;general;opencv_text;general;opencv_tracking;general;opencv_videostab;general;opencv_viz;general;opencv_ximgproc;general;opencv_xobjdetect;general;opencv_xphoto;general;glog;general;uvc;general;usb-1.0; + +//Value Computed by CMake +astra_camera_SOURCE_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera + +//The directory containing a CMake configuration file for bond. +bond_DIR:PATH=/opt/ros/noetic/share/bond/cmake + +//The directory containing a CMake configuration file for bondcpp. +bondcpp_DIR:PATH=/opt/ros/noetic/share/bondcpp/cmake + +//The directory containing a CMake configuration file for boost_headers. +boost_headers_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0 + +//The directory containing a CMake configuration file for camera_calibration_parsers. +camera_calibration_parsers_DIR:PATH=/opt/ros/noetic/share/camera_calibration_parsers/cmake + +//The directory containing a CMake configuration file for camera_info_manager. +camera_info_manager_DIR:PATH=/opt/ros/noetic/share/camera_info_manager/cmake + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/noetic/share/class_loader/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake + +//The directory containing a CMake configuration file for cv_bridge. +cv_bridge_DIR:PATH=/opt/ros/noetic/share/cv_bridge/cmake + +//The directory containing a CMake configuration file for ddynamic_reconfigure. +ddynamic_reconfigure_DIR:PATH=/opt/ros/noetic/share/ddynamic_reconfigure/cmake + +//The directory containing a CMake configuration file for diagnostic_msgs. +diagnostic_msgs_DIR:PATH=/opt/ros/noetic/share/diagnostic_msgs/cmake + +//The directory containing a CMake configuration file for diagnostic_updater. +diagnostic_updater_DIR:PATH=/opt/ros/noetic/share/diagnostic_updater/cmake + +//The directory containing a CMake configuration file for dynamic_reconfigure. +dynamic_reconfigure_DIR:PATH=/opt/ros/noetic/share/dynamic_reconfigure/cmake + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake + +//The directory containing a CMake configuration file for geneus. +geneus_DIR:PATH=/opt/ros/noetic/share/geneus/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/noetic/share/genmsg/cmake + +//The directory containing a CMake configuration file for gennodejs. +gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/noetic/share/genpy/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/noetic/share/geometry_msgs/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;gtest; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;gmock; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/gtest/googletest + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Build gtest with internal symbols hidden in shared libraries. +gtest_hide_internal_symbols:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;gtest; + +//The directory containing a CMake configuration file for image_geometry. +image_geometry_DIR:PATH=/opt/ros/noetic/share/image_geometry/cmake + +//The directory containing a CMake configuration file for image_transport. +image_transport_DIR:PATH=/opt/ros/noetic/share/image_transport/cmake + +//Path to a library. +lib:FILEPATH=/opt/ros/noetic/lib/libdiagnostic_updater.so + +//The directory containing a CMake configuration file for message_filters. +message_filters_DIR:PATH=/opt/ros/noetic/share/message_filters/cmake + +//The directory containing a CMake configuration file for message_generation. +message_generation_DIR:PATH=/opt/ros/noetic/share/message_generation/cmake + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake + +//The directory containing a CMake configuration file for nav_msgs. +nav_msgs_DIR:PATH=/opt/ros/noetic/share/nav_msgs/cmake + +//The directory containing a CMake configuration file for nodelet. +nodelet_DIR:PATH=/opt/ros/noetic/share/nodelet/cmake + +//Path to a library. +pkgcfg_lib_GLOG_glog:FILEPATH=/usr/lib/x86_64-linux-gnu/libglog.so + +//Path to a library. +pkgcfg_lib_LIBUVC_usb-1.0:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//Path to a library. +pkgcfg_lib_LIBUVC_uvc:FILEPATH=/usr/lib/x86_64-linux-gnu/libuvc.so + +//The directory containing a CMake configuration file for pluginlib. +pluginlib_DIR:PATH=/opt/ros/noetic/share/pluginlib/cmake + +//The directory containing a CMake configuration file for realsense2. +realsense2_DIR:PATH=/usr/local/lib/cmake/realsense2 + +//Value Computed by CMake +realsense2_camera_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/realsense-ros/realsense2_camera + +//Dependencies for the target 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+ +//Value Computed by CMake +realsense2_camera_SOURCE_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/src/realsense-ros/realsense2_camera + +//Value Computed by CMake +realsense2_description_BINARY_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/build/realsense-ros/realsense2_description + +//Value Computed by CMake +realsense2_description_SOURCE_DIR:STATIC=/home/agilex/cobot_magic/camera_ws/src/realsense-ros/realsense2_description + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/noetic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/noetic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/noetic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/noetic/share/roscpp_traits/cmake + +//The 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@echo "... src/uvc_camera_driver.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/agilex/cobot_magic/camera_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/camera_ws/build/ros_astra_camera/cmake/astra_camera-genmsg-context.py b/camera_ws/build/ros_astra_camera/cmake/astra_camera-genmsg-context.py new file mode 100644 index 0000000000000000000000000000000000000000..59650a71945179dc53772247414f67de5ff1722f --- /dev/null +++ b/camera_ws/build/ros_astra_camera/cmake/astra_camera-genmsg-context.py @@ -0,0 +1,11 @@ +# generated from genmsg/cmake/pkg-genmsg.context.in + +messages_str = "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" +services_str = "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" +pkg_name = "astra_camera" +dependencies_str = "std_msgs;sensor_msgs" +langs = "gencpp;geneus;genlisp;gennodejs;genpy" +dep_include_paths_str = "astra_camera;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg;std_msgs;/opt/ros/noetic/share/std_msgs/cmake/../msg;sensor_msgs;/opt/ros/noetic/share/sensor_msgs/cmake/../msg;geometry_msgs;/opt/ros/noetic/share/geometry_msgs/cmake/../msg" +PYTHON_EXECUTABLE = "/home/agilex/miniconda3/envs/aloha/bin/python3" +package_has_static_sources = '' == 'TRUE' +genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py" diff --git a/camera_ws/build/ros_astra_camera/cmake/astra_camera-genmsg.cmake b/camera_ws/build/ros_astra_camera/cmake/astra_camera-genmsg.cmake new file mode 100644 index 0000000000000000000000000000000000000000..9e00d02a8b72f64bd947bee0c288a81b3710f5fd --- /dev/null +++ b/camera_ws/build/ros_astra_camera/cmake/astra_camera-genmsg.cmake @@ -0,0 +1,760 @@ +# generated from genmsg/cmake/pkg-genmsg.cmake.em + +message(STATUS "astra_camera: 3 messages, 9 services") + +set(MSG_I_FLAGS "-Iastra_camera:/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg;-Istd_msgs:/opt/ros/noetic/share/std_msgs/cmake/../msg;-Isensor_msgs:/opt/ros/noetic/share/sensor_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/noetic/share/geometry_msgs/cmake/../msg") + +# Find all generators +find_package(gencpp REQUIRED) +find_package(geneus REQUIRED) +find_package(genlisp REQUIRED) +find_package(gennodejs REQUIRED) +find_package(genpy REQUIRED) + +add_custom_target(astra_camera_generate_messages ALL) + +# verify that message/service dependencies have not changed since configure + + + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" "std_msgs/Header" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" "std_msgs/Header" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" "std_msgs/Header" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" "" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" "sensor_msgs/RegionOfInterest:sensor_msgs/CameraInfo:std_msgs/Header" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" "" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" "astra_camera/DeviceInfo:std_msgs/Header" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" "" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" "" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" "" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" "" +) + +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" NAME_WE) +add_custom_target(_astra_camera_generate_messages_check_deps_${_filename} + COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "astra_camera" "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" "" +) + +# +# langs = gencpp;geneus;genlisp;gennodejs;genpy +# + +### Section generating for lang: gencpp +### Generating Messages +_generate_msg_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_msg_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_msg_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) + +### Generating Services +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/sensor_msgs/cmake/../msg/RegionOfInterest.msg;/opt/ros/noetic/share/sensor_msgs/cmake/../msg/CameraInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" + "${MSG_I_FLAGS}" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) +_generate_srv_cpp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera +) + +### Generating Module File +_generate_module_cpp(astra_camera + ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera + "${ALL_GEN_OUTPUT_FILES_cpp}" +) + +add_custom_target(astra_camera_generate_messages_cpp + DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp} +) +add_dependencies(astra_camera_generate_messages astra_camera_generate_messages_cpp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_cpp _astra_camera_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(astra_camera_gencpp) +add_dependencies(astra_camera_gencpp astra_camera_generate_messages_cpp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS astra_camera_generate_messages_cpp) + +### Section generating for lang: geneus +### Generating Messages +_generate_msg_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_msg_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_msg_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) + +### Generating Services +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/sensor_msgs/cmake/../msg/RegionOfInterest.msg;/opt/ros/noetic/share/sensor_msgs/cmake/../msg/CameraInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" + "${MSG_I_FLAGS}" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) +_generate_srv_eus(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera +) + +### Generating Module File +_generate_module_eus(astra_camera + ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera + "${ALL_GEN_OUTPUT_FILES_eus}" +) + +add_custom_target(astra_camera_generate_messages_eus + DEPENDS ${ALL_GEN_OUTPUT_FILES_eus} +) +add_dependencies(astra_camera_generate_messages astra_camera_generate_messages_eus) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_eus _astra_camera_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(astra_camera_geneus) +add_dependencies(astra_camera_geneus astra_camera_generate_messages_eus) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS astra_camera_generate_messages_eus) + +### Section generating for lang: genlisp +### Generating Messages +_generate_msg_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_msg_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_msg_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) + +### Generating Services +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/sensor_msgs/cmake/../msg/RegionOfInterest.msg;/opt/ros/noetic/share/sensor_msgs/cmake/../msg/CameraInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" + "${MSG_I_FLAGS}" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) +_generate_srv_lisp(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera +) + +### Generating Module File +_generate_module_lisp(astra_camera + ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera + "${ALL_GEN_OUTPUT_FILES_lisp}" +) + +add_custom_target(astra_camera_generate_messages_lisp + DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp} +) +add_dependencies(astra_camera_generate_messages astra_camera_generate_messages_lisp) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_lisp _astra_camera_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(astra_camera_genlisp) +add_dependencies(astra_camera_genlisp astra_camera_generate_messages_lisp) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS astra_camera_generate_messages_lisp) + +### Section generating for lang: gennodejs +### Generating Messages +_generate_msg_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_msg_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_msg_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) + +### Generating Services +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/sensor_msgs/cmake/../msg/RegionOfInterest.msg;/opt/ros/noetic/share/sensor_msgs/cmake/../msg/CameraInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" + "${MSG_I_FLAGS}" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) +_generate_srv_nodejs(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera +) + +### Generating Module File +_generate_module_nodejs(astra_camera + ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera + "${ALL_GEN_OUTPUT_FILES_nodejs}" +) + +add_custom_target(astra_camera_generate_messages_nodejs + DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs} +) +add_dependencies(astra_camera_generate_messages astra_camera_generate_messages_nodejs) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_nodejs _astra_camera_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(astra_camera_gennodejs) +add_dependencies(astra_camera_gennodejs astra_camera_generate_messages_nodejs) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS astra_camera_generate_messages_nodejs) + +### Section generating for lang: genpy +### Generating Messages +_generate_msg_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_msg_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_msg_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) + +### Generating Services +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" + "${MSG_I_FLAGS}" + "/opt/ros/noetic/share/sensor_msgs/cmake/../msg/RegionOfInterest.msg;/opt/ros/noetic/share/sensor_msgs/cmake/../msg/CameraInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" + "${MSG_I_FLAGS}" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) +_generate_srv_py(astra_camera + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" + "${MSG_I_FLAGS}" + "" + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera +) + +### Generating Module File +_generate_module_py(astra_camera + ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera + "${ALL_GEN_OUTPUT_FILES_py}" +) + +add_custom_target(astra_camera_generate_messages_py + DEPENDS ${ALL_GEN_OUTPUT_FILES_py} +) +add_dependencies(astra_camera_generate_messages astra_camera_generate_messages_py) + +# add dependencies to all check dependencies targets +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) +get_filename_component(_filename "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" NAME_WE) +add_dependencies(astra_camera_generate_messages_py _astra_camera_generate_messages_check_deps_${_filename}) + +# target for backward compatibility +add_custom_target(astra_camera_genpy) +add_dependencies(astra_camera_genpy astra_camera_generate_messages_py) + +# register target for catkin_package(EXPORTED_TARGETS) +list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS astra_camera_generate_messages_py) + + + +if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/astra_camera + DESTINATION ${gencpp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_cpp) + add_dependencies(astra_camera_generate_messages_cpp std_msgs_generate_messages_cpp) +endif() +if(TARGET sensor_msgs_generate_messages_cpp) + add_dependencies(astra_camera_generate_messages_cpp sensor_msgs_generate_messages_cpp) +endif() + +if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/astra_camera + DESTINATION ${geneus_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_eus) + add_dependencies(astra_camera_generate_messages_eus std_msgs_generate_messages_eus) +endif() +if(TARGET sensor_msgs_generate_messages_eus) + add_dependencies(astra_camera_generate_messages_eus sensor_msgs_generate_messages_eus) +endif() + +if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/astra_camera + DESTINATION ${genlisp_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_lisp) + add_dependencies(astra_camera_generate_messages_lisp std_msgs_generate_messages_lisp) +endif() +if(TARGET sensor_msgs_generate_messages_lisp) + add_dependencies(astra_camera_generate_messages_lisp sensor_msgs_generate_messages_lisp) +endif() + +if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera) + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/astra_camera + DESTINATION ${gennodejs_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_nodejs) + add_dependencies(astra_camera_generate_messages_nodejs std_msgs_generate_messages_nodejs) +endif() +if(TARGET sensor_msgs_generate_messages_nodejs) + add_dependencies(astra_camera_generate_messages_nodejs sensor_msgs_generate_messages_nodejs) +endif() + +if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera) + install(CODE "execute_process(COMMAND \"/home/agilex/miniconda3/envs/aloha/bin/python3\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera\")") + # install generated code + install( + DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/astra_camera + DESTINATION ${genpy_INSTALL_DIR} + ) +endif() +if(TARGET std_msgs_generate_messages_py) + add_dependencies(astra_camera_generate_messages_py std_msgs_generate_messages_py) +endif() +if(TARGET sensor_msgs_generate_messages_py) + add_dependencies(astra_camera_generate_messages_py sensor_msgs_generate_messages_py) +endif() diff --git a/camera_ws/build/ros_astra_camera/cmake_install.cmake b/camera_ws/build/ros_astra_camera/cmake_install.cmake new file mode 100644 index 0000000000000000000000000000000000000000..03129aa4efe08c283d3899b1d7bed32cb2645189 --- /dev/null +++ b/camera_ws/build/ros_astra_camera/cmake_install.cmake @@ -0,0 +1,219 @@ +# Install script for directory: /home/agilex/cobot_magic/camera_ws/src/ros_astra_camera + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/agilex/cobot_magic/camera_ws/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/astra_camera" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/devel/include/astra_camera/AstraConfig.h") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages/astra_camera" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/devel/lib/python3/dist-packages/astra_camera/__init__.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + execute_process(COMMAND "/home/agilex/miniconda3/envs/aloha/bin/python3" -m compileall "/home/agilex/cobot_magic/camera_ws/devel/lib/python3/dist-packages/astra_camera/cfg") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages/astra_camera" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/devel/lib/python3/dist-packages/astra_camera/cfg") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera/msg" TYPE FILE FILES + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera/srv" TYPE FILE FILES + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv" + "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera/cmake" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/build/ros_astra_camera/catkin_generated/installspace/astra_camera-msg-paths.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/devel/include/astra_camera") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/devel/share/roseus/ros/astra_camera") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/devel/share/common-lisp/ros/astra_camera") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/devel/share/gennodejs/ros/astra_camera") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + execute_process(COMMAND "/home/agilex/miniconda3/envs/aloha/bin/python3" -m compileall "/home/agilex/cobot_magic/camera_ws/devel/lib/python3/dist-packages/astra_camera") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/devel/lib/python3/dist-packages/astra_camera") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/build/ros_astra_camera/catkin_generated/installspace/astra_camera.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera/cmake" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/build/ros_astra_camera/catkin_generated/installspace/astra_camera-msg-extras.cmake") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera/cmake" TYPE FILE FILES + "/home/agilex/cobot_magic/camera_ws/build/ros_astra_camera/catkin_generated/installspace/astra_cameraConfig.cmake" + "/home/agilex/cobot_magic/camera_ws/build/ros_astra_camera/catkin_generated/installspace/astra_cameraConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/package.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/agilex/cobot_magic/camera_ws/devel/lib/libastra_camera.so") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so" + OLD_RPATH 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+ NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libastra_camera.so") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/astra_camera/astra_camera_node" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/astra_camera/astra_camera_node") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/astra_camera/astra_camera_node" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/astra_camera" TYPE EXECUTABLE FILES "/home/agilex/cobot_magic/camera_ws/devel/lib/astra_camera/astra_camera_node") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/astra_camera/astra_camera_node" AND + NOT IS_SYMLINK 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+endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/astra_camera" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/56-orbbec-usb.rules") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/astra_camera" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/scripts") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera" TYPE FILE FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/56-orbbec-usb.rules") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/scripts") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/astra_camera" TYPE DIRECTORY FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/launch") +endif() + diff --git a/collect_data/docs/collect_data.py b/collect_data/docs/collect_data.py new file mode 100644 index 0000000000000000000000000000000000000000..00d92fa38acc88cabd18e0d0b3833fbbc5137b3b --- /dev/null +++ b/collect_data/docs/collect_data.py @@ -0,0 +1,469 @@ +#coding=utf-8 +import os +import time +import numpy as np +import h5py +import argparse +import dm_env +import cv2 +import queue + +import rospy +from sensor_msgs.msg import JointState +from sensor_msgs.msg import Image +from nav_msgs.msg import Odometry +from cv_bridge import CvBridge + +import threading +import collections + +import sys +sys.path.append("./") + + + +# 保存数据函数 +def save_data(args, timesteps, actions, dataset_path): + use_depth_image = args.use_depth_image + is_compress = args.is_compress + + # 数据字典 + data_dict = { + # obs包含qpos，qvel， effort ,acition, image, base_action + '/observations/qpos': [], + '/observations/qvel': [], + '/observations/effort': [], + '/action': [], + '/base_action': [], + } + + # 相机字典 观察的图像 + for cam_name in args.camera_names: + data_dict[f'/observations/images/{cam_name}'] = [] + if use_depth_image: + data_dict[f'/observations/depths/{cam_name}'] = [] + + + # len(action): max_timesteps, len(time_steps): max_timesteps + 1 + # 动作长度 遍历动作 + while actions: + # 循环弹出一个队列 + action = actions.pop(0) # 动作 当前动作 + ts = timesteps.pop(0) # 奖励 前一帧 + + # 往字典里面添值 + # Timestep返回的qpos，qvel,effort + data_dict['/observations/qpos'].append(ts.observation['qpos']) + data_dict['/observations/qvel'].append(ts.observation['qvel']) + data_dict['/observations/effort'].append(ts.observation['effort']) + + # 实际发的action + data_dict['/action'].append(action) + data_dict['/base_action'].append(ts.observation['base_vel']) + + # 相机数据 + for cam_name in args.camera_names: + data_dict[f'/observations/images/{cam_name}'].append(ts.observation['images'][cam_name]) + + if use_depth_image: + data_dict[f'/observations/depths/{cam_name}'].append(ts.observation['depths'][cam_name]) + + pass + if is_compress: + encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 50] # tried as low as 20, seems fine + compressed_len = [] + # 3个相机 + for cam_name in args.camera_names: + image_list = data_dict[f'/observations/images/{cam_name}'] + compressed_list = [] + compressed_len.append([]) # 压缩的长度 + + for image in image_list: + result, encoded_image = cv2.imencode('.jpg', image, encode_param) # 0.02 sec # cv2.imdecode(encoded_image, 1) + + compressed_list.append(encoded_image) + compressed_len[-1].append(len(encoded_image)) + + # 更新图像 + data_dict[f'/observations/images/{cam_name}'] = compressed_list + + compressed_len = np.array(compressed_len) + padded_size = compressed_len.max() # 取最大的图像长度，图像压缩后就是一个buf序列 + + for cam_name in args.camera_names: + compressed_image_list = data_dict[f'/observations/images/{cam_name}'] + padded_compressed_image_list = [] + for compressed_image in compressed_image_list: + padded_compressed_image = np.zeros(padded_size, dtype='uint8') + image_len = len(compressed_image) + padded_compressed_image[:image_len] = compressed_image + padded_compressed_image_list.append(padded_compressed_image) + data_dict[f'/observations/images/{cam_name}'] = padded_compressed_image_list + + # 深度图压缩处理 + if use_depth_image: + compressed_len_depth = [] + # 3个相机 + for cam_name in args.camera_names: + depth_list = data_dict[f'/observations/depths/{cam_name}'] + compressed_list_depth = [] + compressed_len_depth.append([]) # 压缩的长度 + + for depth in depth_list: + result, encoded_depth = cv2.imencode('.jpg', depth, encode_param) # 0.02 sec # cv2.imdecode(encoded_image, 1) + + compressed_list_depth.append(encoded_depth) + compressed_len_depth[-1].append(len(encoded_depth)) + + # 更新图像 + data_dict[f'/observations/depths/{cam_name}'] = compressed_list_depth + + compressed_len_depth = np.array(compressed_len_depth) + padded_size_depth = compressed_len_depth.max() # 取最大的图像长度，图像压缩后就是一个buf序列 + + for cam_name in args.camera_names: + compressed_depth_list = data_dict[f'/observations/depths/{cam_name}'] + padded_compressed_depth_list = [] + for compressed_depth in compressed_depth_list: + padded_compressed_depth = np.zeros(padded_size_depth, dtype='uint8') + depth_len = len(compressed_depth) + padded_compressed_depth[:depth_len] = compressed_depth + padded_compressed_depth_list.append(padded_compressed_depth) + data_dict[f'/observations/depths/{cam_name}'] = padded_compressed_depth_list + + + + + t0 = time.time() + with h5py.File(dataset_path + '.hdf5', 'w', rdcc_nbytes=1024**2*2) as root: + # 文本的属性： + # 1 是否仿真 + # 2 图像是否压缩 + # + root.attrs['sim'] = False + root.attrs['compress'] = False + if args.is_compress: + root.attrs['compress'] = True + + # 创建一个新的组observations，观测状态组 + # 图像组 + obs = root.create_group('observations') + + image = obs.create_group('images') + + depth = obs.create_group('depths') + + for cam_name in args.camera_names: + if args.is_compress: + _ = image.create_dataset(cam_name, (args.max_timesteps, padded_size), dtype='uint8', + chunks=(1, padded_size), ) + if use_depth_image: + # _ = depth.create_dataset(cam_name, (args.max_timesteps, 400, 640), dtype='uint8', + # chunks=(1, 400, 640), ) + _ = depth.create_dataset(cam_name, (args.max_timesteps, padded_size_depth), dtype='uint8', + chunks=(1, padded_size_depth), ) + + + else: + _ = image.create_dataset(cam_name, (args.max_timesteps, 480, 640, 3), dtype='uint8', + chunks=(1, 480, 640, 3), ) + if use_depth_image: + _ = depth.create_dataset(cam_name, (args.max_timesteps, 400, 640), dtype='uint8', + chunks=(1, 400, 640), ) + + _ = obs.create_dataset('qpos', (args.max_timesteps, 14)) + _ = obs.create_dataset('qvel', (args.max_timesteps, 14)) + _ = obs.create_dataset('effort', (args.max_timesteps, 14)) + _ = root.create_dataset('action', (args.max_timesteps, 14)) + _ = root.create_dataset('base_action', (args.max_timesteps, 2)) + + + if is_compress: + _ = root.create_dataset('compress_len', (len(args.camera_names), args.max_timesteps)) + root['/compress_len'][...] = compressed_len + + + # data_dict写入h5py.File + for name, array in data_dict.items(): # 名字+值 + root[name][...] = array + + print(f'Saving: {time.time() - t0:.1f} secs', dataset_path) + + +class RosOperator: + def __init__(self, args): + self.init(args) + + def init(self, args): + self.args = args + self.use_depth_image = self.args.use_depth_image + self.use_robot_base = self.args.use_robot_base + + self.bridge = CvBridge() + self.imgl_queue, self.imgr_queue, self.imgf_queue = [queue.Queue() for _ in range(3)] + self.depthl_queue, self.depthr_queue, self.depthf_queue = [queue.Queue() for _ in range(3)] + self.masterl_queue, self.masterr_queue, self.puppetl_queue, self.puppetr_queue = [queue.Queue() for _ in range(4)] + self.robot_base_deque = queue.Queue() + + dataset_dir = os.path.join(args.dataset_dir, args.task_name) + if not os.path.exists(dataset_dir): + os.makedirs(dataset_dir) + self.dataset_path = os.path.join(dataset_dir, "episode_" + str(args.episode_idx)) + + self.register_sub() # 定义订阅消息话题 + + def register_sub(self): + rospy.init_node('record_episodes', anonymous=True) + + rospy.Subscriber(self.args.img_left_topic, Image, lambda msg: self.imgl_queue.put(msg), queue_size=60, tcp_nodelay=True) + rospy.Subscriber(self.args.img_right_topic, Image, lambda msg: self.imgr_queue.put(msg), queue_size=60, tcp_nodelay=True) + rospy.Subscriber(self.args.img_front_topic, Image, lambda msg: self.imgf_queue.put(msg), queue_size=60, tcp_nodelay=True) + + if self.use_depth_image: + rospy.Subscriber(self.args.depth_left_topic, Image, lambda msg: self.depthl_queue.put(msg), queue_size=60, tcp_nodelay=True) + rospy.Subscriber(self.args.depth_right_topic, Image, lambda msg: self.depthr_queue.put(msg), queue_size=60, tcp_nodelay=True) + rospy.Subscriber(self.args.depth_front_topic, Image, lambda msg: self.depthf_queue.put(msg), queue_size=60, tcp_nodelay=True) + + + rospy.Subscriber(self.args.master_arm_left_topic, JointState, lambda msg: self.masterl_queue.put(msg), queue_size=200, tcp_nodelay=True) + rospy.Subscriber(self.args.master_arm_right_topic, JointState, lambda msg: self.masterr_queue.put(msg), queue_size=200, tcp_nodelay=True) + rospy.Subscriber(self.args.puppet_arm_left_topic, JointState, lambda msg: self.puppetl_queue.put(msg), queue_size=200, tcp_nodelay=True) + rospy.Subscriber(self.args.puppet_arm_right_topic, JointState, lambda msg: self.puppetr_queue.put(msg), queue_size=200, tcp_nodelay=True) + + if self.use_robot_base: + rospy.Subscriber(self.args.robot_base_topic, Odometry, lambda msg: self.robot_base_deque.put(msg), queue_size=60, tcp_nodelay=True) + + + def collet_data(self): + rate = rospy.Rate(30) + input("\033[32m\nPlease press any key to continue\n\033[0m") + + count = 0 # 统计 timesteps + timesteps = [] # obs + actions = [] # acticn + + # 循环max_timesteps次 + while (count < self.args.max_timesteps + 1 and not rospy.is_shutdown()): + time1 = time.time() # 起始时间 + # 判读图像和深度图队列是否为空 + if self.imgl_queue.empty() or self.imgr_queue.empty() or self.imgf_queue.empty() or \ + (self.use_depth_image and (self.depthl_queue.empty() or self.depthr_queue.empty() or self.depthf_queue.empty())): + print("\033[31mPlease check topic\n\033[0m") + rate.sleep() + continue + + if self.masterl_queue.empty() or self.masterr_queue.empty() or \ + self.puppetl_queue.empty() or self.puppetr_queue.empty() or \ + ( self.use_robot_base and ( self.robot_base_deque.empty() ) ): + print("\033[31mPlease check topic\n\033[0m") + rate.sleep() + continue + + imgl, imgr, imgl, depthl, depthr, depthl = [None for _ in range(6)] + masterl, masterr, puppetl, puppetr = [None for _ in range(4)] + robot_base = None + + min_timestamps = min(self.imgl_queue.queue[-1].header.stamp.to_sec(), + self.imgr_queue.queue[-1].header.stamp.to_sec(), + self.imgf_queue.queue[-1].header.stamp.to_sec()) - 0.01 + + if(self.use_depth_image): + min_timestamps = min(min_timestamps, + self.depthl_queue.queue[-1].header.stamp.to_sec(), + self.depthr_queue.queue[-1].header.stamp.to_sec(), + self.depthf_queue.queue[-1].header.stamp.to_sec(), + ) - 0.01 + + while (self.imgl_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.imgl_queue.get() + imgl = self.bridge.imgmsg_to_cv2(self.imgl_queue.get(), 'passthrough') + + while (self.imgr_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.imgr_queue.get() + imgr = self.bridge.imgmsg_to_cv2(self.imgr_queue.get(), 'passthrough') + + while (self.imgf_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.imgf_queue.get() + imgf = self.bridge.imgmsg_to_cv2(self.imgf_queue.get(), 'passthrough') + + if(self.use_depth_image): + while (self.depthl_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.depthl_queue.get() + depthl = self.bridge.imgmsg_to_cv2(self.depthl_queue.get(), 'passthrough') + + while (self.depthr_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.depthr_queue.get() + depthr = self.bridge.imgmsg_to_cv2(self.depthr_queue.get(), 'passthrough') + + while (self.depthf_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.depthf_queue.get() + depthf = self.bridge.imgmsg_to_cv2(self.depthf_queue.get(), 'passthrough') + + + + while (self.masterl_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.masterl_queue.get() + masterl = self.masterl_queue.get() + + while (self.masterr_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.masterr_queue.get() + masterr = self.masterr_queue.get() + + while (self.puppetl_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.puppetl_queue.get() + puppetl = self.puppetl_queue.get() + + while (self.puppetr_queue.queue[0].header.stamp.to_sec() < min_timestamps): + self.puppetr_queue.get() + puppetr = self.puppetl_queue.get() + + if(self.use_robot_base): + while self.robot_base_deque[0].header.stamp.to_sec() < min_timestamps: + self.robot_base_deque.get() + robot_base = self.robot_base_deque.get() + + # cv2.imshow("imgl", imgl) + # cv2.imshow("imgr", imgr) + # cv2.imshow("imgf", imgf) + # cv2.waitKey(20) + + count += 1 + + + # 2.1 图像信息 + image_dict = dict() + image_dict[self.args.camera_names[0]] = imgf + image_dict[self.args.camera_names[1]] = imgl + image_dict[self.args.camera_names[2]] = imgr + + # 2.2 从臂的信息从臂的状态 机械臂示教模式时 会自动订阅 + obs = collections.OrderedDict() # 有序的字典 + obs['images'] = image_dict + obs['qpos'] = np.concatenate((np.array(puppetl.position), np.array(puppetr.position)), axis=0) + obs['qvel'] = np.concatenate((np.array(puppetl.velocity), np.array(puppetr.velocity)), axis=0) + obs['effort'] = np.concatenate((np.array(puppetl.effort), np.array(puppetr.effort)), axis=0) + + # 2.3 底盘数据 + if self.use_robot_base: + obs['base_vel'] = [robot_base.twist.twist.linear.x, robot_base.twist.twist.angular.z] + else: + obs['base_vel'] = [0.0, 0.0] + + # 2.4 深度图数据 + if(self.use_depth_image): + depth_dict = dict() + depth_dict[self.args.camera_names[0]] = depthf + depth_dict[self.args.camera_names[1]] = depthl + depth_dict[self.args.camera_names[2]] = depthr + obs['depths'] = depth_dict + + # 第一帧 只包含first， fisrt只保存StepType.FIRST + if count == 1: + ts = dm_env.TimeStep( + step_type=dm_env.StepType.FIRST, + reward=None, + discount=None, + observation=obs) + + timesteps.append(ts) + print("frame %s cost_time: %s" % (count, round(1/(time.time() - time1), 6))) + rate.sleep() + continue + + # 时间步 + ts = dm_env.TimeStep( + step_type=dm_env.StepType.MID, + reward=None, + discount=None, + observation=obs) + + # 主臂保存状态 + action = np.concatenate((np.array(masterl.position), np.array(masterr.position)), axis=0) + actions.append(action) + timesteps.append(ts) + + if rospy.is_shutdown(): + exit(-1) + + print("frame %s cost_time: %s" % (count, round((time.time() - time1), 6))) + rate.sleep() + + print("len(timesteps): ", len(timesteps)) + print("len(actions) : ", len(actions)) + save_data(self.args, timesteps, actions, self.dataset_path) + +def get_arguments(): + parser = argparse.ArgumentParser() + parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset_dir.', + default="./data", required=False) + + parser.add_argument('--task_name', action='store', type=str, help='Task name.', + default="aloha_mobile_dummy", required=False) + + parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.', + default=0, required=False) + parser.add_argument('--max_timesteps', action='store', type=int, help='Max_timesteps.', + default=500, required=False) + + # 相机名称话题 + parser.add_argument('--camera_names', action='store', type=str, help='camera_names', + default=['cam_high', 'cam_left_wrist', 'cam_right_wrist'], required=False) + + # 相机彩色图话题 + parser.add_argument('--img_front_topic', action='store', type=str, help='img_front_topic', + default='/camera_f/color/image_raw', required=False) + parser.add_argument('--img_left_topic', action='store', type=str, help='img_left_topic', + default='/camera_l/color/image_raw', required=False) + parser.add_argument('--img_right_topic', action='store', type=str, help='img_right_topic', + default='/camera_r/color/image_raw', required=False) + + # 相机深度图话题 + parser.add_argument('--use_depth_image', action='store_true', help='--use_depth_image', required=False) + + parser.add_argument('--depth_front_topic', action='store', type=str, help='depth_front_topic', + default='/camera_f/depth/image_raw', required=False) + parser.add_argument('--depth_left_topic', action='store', type=str, help='depth_left_topic', + default='/camera_l/depth/image_raw', required=False) + parser.add_argument('--depth_right_topic', action='store', type=str, help='depth_right_topic', + default='/camera_r/depth/image_raw', required=False) + + # 机械臂话题 + parser.add_argument('--master_arm_left_topic', action='store', type=str, help='master_arm_left_topic', + default='/master/joint_left', required=False) + parser.add_argument('--master_arm_right_topic', action='store', type=str, help='master_arm_right_topic', + default='/master/joint_right', required=False) + + parser.add_argument('--puppet_arm_left_topic', action='store', type=str, help='puppet_arm_left_topic', + default='/puppet/joint_left', required=False) + parser.add_argument('--puppet_arm_right_topic', action='store', type=str, help='puppet_arm_right_topic', + default='/puppet/joint_right', required=False) + # 底盘话题 + parser.add_argument('--use_robot_base', action='store', type=bool, help='use_robot_base', + default=False, required=False) + parser.add_argument('--robot_base_topic', action='store', type=str, help='robot_base_topic', + default='/odom_raw', required=False) + + # 发布频率 + parser.add_argument('--frame_rate', action='store', type=int, help='frame_rate', + default=30, required=False) + + # 图像是否压缩 + parser.add_argument('--is_compress', action='store_true', help='is_compress', required=False) + + args = parser.parse_args() + return args + + +def main(): + args = get_arguments() + ros_operator = RosOperator(args) # 初始化ros节点，订阅消息 + + t1 = threading.Thread(target=ros_operator.collet_data) + t1.start() + t1.join() + + +if __name__ == '__main__': + main() + +# python scripts/record_data.py --dataset_dir ~/data0301 --max_timesteps 500 --is_compress --episode_idx 0 diff --git a/collect_data/docs/env.sh b/collect_data/docs/env.sh new file mode 100644 index 0000000000000000000000000000000000000000..5b17ebab6ef21e0b3c51d28dec206c7043a662dc --- /dev/null +++ b/collect_data/docs/env.sh @@ -0,0 +1,54 @@ + +#!/bin/bash +architecture=$(uname -m) +echo $architecture +case $architecture in + x86_64) + echo "System architecture is x86" + echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse" > /etc/apt/sources.list + echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse" >> /etc/apt/sources.list + echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse" >> /etc/apt/sources.list + echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse" >> /etc/apt/sources.list + ;; + arm*) + echo "System architecture is ARM" + echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse" > /etc/apt/sources.list + echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse" >> /etc/apt/sources.list + echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse" >> /etc/apt/sources.list + echo "deb http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse" >> /etc/apt/sources.list + ;; + *) + echo "Unknown architecture: $architecture" + exit 1 # 结束脚本，并返回错误代码 1 + ;; +esac + + +sudo apt update + +sudo apt install build-essential vim cmake git mlocate net-tools openssh-server pkg-config -y + +sudo updatedb + +echo "install ros please input 1 or 0" +read option + +case $option in + 1) + echo "Start install ros..." + wget http://fishros.com/install -O fishros && . fishros + ;; + *) + echo "Exiting script." + exit 0 # 退出脚本并返回成功代码 0 + ;; +esac + +ros_dir="/opt/ros/noetic/" +if [ -d "$ros_dir" ]; then + echo "Directory $ros_dir exists." +else + echo "Directory $ros_dir does not exist." +fi + + diff --git a/collect_data/docs/env2.sh b/collect_data/docs/env2.sh new file mode 100644 index 0000000000000000000000000000000000000000..e0139caf1c095137bd72baac42a88a91afd768d3 --- /dev/null +++ b/collect_data/docs/env2.sh @@ -0,0 +1,74 @@ +ros_dir="/opt/ros/noetic/" +if [ -d "$ros_dir" ]; then + echo "$ros_dir : exists." +else + echo "$ros_dir : does not exist." + echo "please install ros" + exit 1 +fi +; +sudo apt update + +echo "1. install miniconda3." + +ros_dir="$(HOME)/miniconda3" +if [ -d "$ros_dir" ]; then + echo "$ros_dir : exists." +else + echo "start install miniconda3." + mkdir -p ~/miniconda3 + wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh + bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 + rm -rf ~/miniconda3/miniconda.sh + $(HOME)/miniconda3/bin/conda init bash + echo "install miniconda3 completed." +fi + + + +echo "2. install ros_astra_camera" +sudo apt install libgflags-dev libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev -y +sudo apt install ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-libuvc-ros + +ros_dir="$HOME/astra_ws/src/ros_astra_camera" +if [ -d "$ros_dir" ]; then + echo "$ros_dir : exists." +else + echo "start downloads ros_astra_camera." + git clone https://github.com/orbbec/ros_astra_camera.git astra_ws/src/ros_astra_camera +fi + +cd $HOME/astra_ws && catkin_make + +source devel/setup.bash && rospack list && roscd astra_camera + +./scripts/create_udev_rules +sudo udevadm control --reload && sudo udevadm trigger + +cd $HOME/astra_ws + +res=$(grep -c "source $(pwd)/devel/setup.bash" ~/.bashrc) +if [ $res -eq 0 ]; then + echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc +fi + +echo "ros_astra_camera install completed" +cd $HOME + +echo "2. install remote_control" + +ros_dir="$HOME/remote_control/" +if [ -d "$ros_dir" ]; then + echo "$ros_dir : exists." +else + echo "start downloads remote_control." + # git clone +fi + +sudo apt install can-utils net-tools libkdl-parser-dev -y + +cd $HOME/remote_control + +./tools/remove_build_file.sh && ./tools/build.sh + +pip install opencv-python==4.7.0.72 matplotlib==3.7.1 h5py==3.8.0 dm-env==1.6 rosbag==1.16.0 catkin-pkg==1.0.0 empy==3.3.4 \ No newline at end of file diff --git a/collect_data/docs/episode_0_base_action.png b/collect_data/docs/episode_0_base_action.png new file mode 100644 index 0000000000000000000000000000000000000000..38a376201297c3c00185e3186187cbf2695afb29 Binary files /dev/null and b/collect_data/docs/episode_0_base_action.png differ diff --git a/collect_data/docs/test.sh b/collect_data/docs/test.sh new file mode 100644 index 0000000000000000000000000000000000000000..f35cc79f23a76602f71c164527b9d3775baa5d35 --- /dev/null +++ b/collect_data/docs/test.sh @@ -0,0 +1,27 @@ + +echo "install ros please input 1 or 0" +read input1 + +ros_dir="/opt/ros/noetic/" +if [ -d "$ros_dir" ]; then + input1=2 +else + echo +fi + +case $input1 in + 1) + echo "Start install ros..." + wget http://fishros.com/install -O fishros && . fishros + ;; + 2) + echo "ROS was already installed before." + ;; + *) + echo "Do not install ROS." + # exit 0 # 退出脚本并返回成功代码 0 + ;; +esac + + +echo "" \ No newline at end of file diff --git a/collect_data/piper_sdk_demo/README(EN).MD b/collect_data/piper_sdk_demo/README(EN).MD new file mode 100644 index 0000000000000000000000000000000000000000..19c092101d673a495ae6c4af654c9ed8b6e4309a --- /dev/null +++ b/collect_data/piper_sdk_demo/README(EN).MD @@ -0,0 +1,75 @@ +# Piper sdk demo + +[CN](README.MD) + +![ubuntu](https://img.shields.io/badge/Ubuntu-20.04-orange.svg) + +Test: + +|PYTHON |STATE| +|---|---| +|![python3.8](https://img.shields.io/badge/Python-3.8-blue.svg)|![Pass](https://img.shields.io/badge/Pass-blue.svg)| + +## Install dependencies + +```shell +pip3 install python-can +``` + +```shell +pip3 install piper_sdk +``` + +can activate instructions [can README](./can_config.MD) + +## demo instruction + +```shell +. +├── piper_disable.py # 失能机械臂 Disable robotic arm +├── piper_enable.py # 使能机械臂 Enable robotics arm +├── piper_joint_ctrl.py # 机械臂关节控制 Arm joint control +├── piper_master_config.py # 将机械臂设置为主动臂 Set the arm as a master arm +├── piper_slave_config.py # 将机械臂设置为从动臂 Set the arm as a slave arm +└── read_joint_state.py # 读取关节角消息并打印 Read and print joint state +``` + +Note: If the robot is in the master arm mode, you need to restart the robot after sending the command to set it as a slave arm, and the robot will switch to the slave arm mode. + +## Use two arm to remote control + +### Hardware connection + +- Diagram + +![ ](./asserts/接线图.PNG) + +1. Set one of the robotic arms as the master arm and the other as the slave arm (as shown in the demo above), then power off both robotic arms. +2. Connect the two robotic arms to a CAN module, and connect the CANs of the master and slave arms. +3. Power on the slave arm first, then the master arm, wait a few seconds, and then you can perform remote control. +4. If it fails, check whether the CAN line is connected properly, and try to power it off and on again. + +### Read the master-slave data + +See the interface description in the SDK for details. Here is just a brief description + +#### Reading Master Arm Messages + +The functions `GetArmJointMsgs` and `GetArmGripperMsgs` are used to obtain the slave robotic arm joint messages and gripper messages (raw messages). + +The functions `GetArmJointCtrl` and `GetArmGripperCtrl` are used to obtain the master robotic arm joint messages and gripper messages (raw messages). + +#### Control slave arm + +`MotionCtrl_2` is used to set the control command mode, taking joint mode as an example. + +```python +# 0x01 Set CAN command control mode. 0x01 Set joint control mode. 50 Set robotic arm movement speed. +piper.MotionCtrl_2(0x01, 0x01, 50) +``` + +`JointCtrl` is used to control six joints + +`GripperCtrl` is used to control the gripper + +Note!!!: **When controlling the slave arm, the master arm and the slave arm need to be disconnected. You can unplug the master arm's aviation plug and then run the slave arm control program. Otherwise, even if the program is executed, the slave arm will be out of control because the master arm is always sending slave arm control commands** diff --git a/collect_data/piper_sdk_demo/README.MD b/collect_data/piper_sdk_demo/README.MD new file mode 100644 index 0000000000000000000000000000000000000000..6a90ee0cb04022d6029ecc3ad1066948414c3e75 --- /dev/null +++ b/collect_data/piper_sdk_demo/README.MD @@ -0,0 +1,82 @@ +# Piper 机械臂sdk部分demo + +[EN](README(EN).MD) + +![ubuntu](https://img.shields.io/badge/Ubuntu-20.04-orange.svg) + +Test: + +|PYTHON |STATE| +|---|---| +|![python3.8](https://img.shields.io/badge/Python-3.8-blue.svg)|![Pass](https://img.shields.io/badge/Pass-blue.svg)| + +## 安装方法 + +### 安装依赖 + +```shell +pip3 install python-can +``` + +```shell +pip3 install piper_sdk +``` + +can模块激活说明[can README](./can_config.MD) + +## demo说明 + +```shell +. +├── piper_disable.py # 机械臂失能 +├── piper_enable.py # 机械臂使能 +├── piper_joint_ctrl.py # 机械臂关节控制 +├── piper_master_config.py # 机械臂设置为主臂 +├── piper_read_arm_motor_max_acc_limit.py # 读取所有电机的最大加速度限制 +├── piper_read_arm_motor_max_angle_spd.py # 读取机械臂的所有电机的最大加速度限制 +├── piper_reset.py # 机械臂重置，需要在设定为示教模式后执行一次 +├── piper_set_mit.py # 设定机械臂为mit模式，这个模式下机械臂响应最快速 +├── piper_slave_config.py # 机械臂设置为从臂 +├── piper_status.py # 机械臂状态读取 +└── read_joint_state.py # 读取关节角消息并打印 +``` + +注意：如果是在机械臂处于主动臂模式下，发送设置为从动臂指令后需要重新启动机械臂，机械臂才会切换到从动臂模式 + +## 使用双臂摇操作 + +### 硬件设置流程 + +- 示意图 + +![ ](./asserts/接线图.PNG) + +1. 单独将其中一个机械臂设定为主动臂，另一条设定为从动臂(如上demo)，然后将两个机械臂下电 +2. 将两个机械臂共同连接在一个can模块上，令主从臂的can连接 +3. 先将从动臂上电，然后将主动臂上电，稍等几秒，即可进行遥操作 +4. 如未成功，请查看can线是否连接正常，尝试重新断电上电 + +### 读取主从臂数据 + +详见SDK中interface说明，这里只作简要 + +#### 读取主动臂消息 + +`GetArmJointMsgs`、`GetArmGripperMsgs`这两个函数用来获取从动机械臂关节消息和夹爪消息(原始消息) + +`GetArmJointCtrl`、`GetArmGripperCtrl`这两个函数用来获取主动机械臂关节消息和夹爪消息(原始消息) + +#### 控制从臂 + +`MotionCtrl_2`用来设定控制指令模式，以关节模式举例 + +```python +# 0x01设定can指令控制模式；0x01设定关节控制模式；50设定机械臂运动速度 +piper.MotionCtrl_2(0x01, 0x01, 50) +``` + +`JointCtrl`用来控制六个关节 + +`GripperCtrl`用来控制夹爪 + +注意！！！：**控制从臂的时候，需要将主臂和从臂断开，可以将主臂的航插拔掉，再执行控制从臂程序，否则就算执行了程序，由于主臂也一直在发送控制从臂指令，会出现从臂失控现象** diff --git a/collect_data/piper_sdk_demo/can_activate.sh b/collect_data/piper_sdk_demo/can_activate.sh new file mode 100644 index 0000000000000000000000000000000000000000..3756b44b94ddd0eb1715766b2513ac76825715ba --- /dev/null +++ b/collect_data/piper_sdk_demo/can_activate.sh @@ -0,0 +1,138 @@ +#!/bin/bash + +# 默认的 CAN 名称，用户可以通过命令行参数设定 +DEFAULT_CAN_NAME="${1:-can0}" + +# 单个 CAN 模块时的默认比特率，用户可以通过命令行参数设定 +DEFAULT_BITRATE="${2:-1000000}" + +# USB 硬件地址（可选参数） +USB_ADDRESS="${3}" +echo "-------------------START-----------------------" +# 检查 ethtool 是否已安装 +if ! dpkg -l | grep -q "ethtool"; then + echo "\e[31m错误: 系统中未检测到 ethtool。\e[0m" + echo "请使用以下命令安装 ethtool:" + echo "sudo apt update && sudo apt install ethtool" + exit 1 +fi + +# 检查 can-utils 是否已安装 +if ! dpkg -l | grep -q "can-utils"; then + echo "\e[31m错误: 系统中未检测到 can-utils。\e[0m" + echo "请使用以下命令安装 can-utils:" + echo "sudo apt update && sudo apt install can-utils" + exit 1 +fi + +echo "ethtool 和 can-utils 均已安装。" + +# 获取当前系统中的 CAN 模块数量 +CURRENT_CAN_COUNT=$(ip link show type can | grep -c "link/can") + +# 检查当前系统中的 CAN 模块数量是否符合预期 +if [ "$CURRENT_CAN_COUNT" -ne "1" ]; then + if [ -z "$USB_ADDRESS" ]; then + # 遍历所有 CAN 接口 + for iface in $(ip -br link show type can | awk '{print $1}'); do + # 使用 ethtool 获取 bus-info + BUS_INFO=$(sudo ethtool -i "$iface" | grep "bus-info" | awk '{print $2}') + + if [ -z "$BUS_INFO" ];then + echo "错误: 无法获取接口 $iface 的 bus-info 信息。" + continue + fi + + echo "接口 $iface 插入在 USB 端口 $BUS_INFO" + done + echo -e " \e[31m 错误: 系统检测到的 CAN 模块数量 ($CURRENT_CAN_COUNT) 与预期数量 (1) 不符。\e[0m" + echo -e " \e[31m 请增加usb硬件地址参数，如: \e[0m" + echo -e " bash can_activate.sh can0 1000000 1-2:1.0" + echo "-------------------ERROR-----------------------" + exit 1 + fi +fi + +# 加载 gs_usb 模块 +# sudo modprobe gs_usb +# if [ $? -ne 0 ]; then +# echo "错误: 无法加载 gs_usb 模块。" +# exit 1 +# fi + +if [ -n "$USB_ADDRESS" ]; then + echo "检测到 USB 硬件地址参数: $USB_ADDRESS" + + # 使用 ethtool 查找与 USB 硬件地址对应的 CAN 接口 + INTERFACE_NAME="" + for iface in $(ip -br link show type can | awk '{print $1}'); do + BUS_INFO=$(sudo ethtool -i "$iface" | grep "bus-info" | awk '{print $2}') + if [ "$BUS_INFO" == "$USB_ADDRESS" ]; then + INTERFACE_NAME="$iface" + break + fi + done + + if [ -z "$INTERFACE_NAME" ]; then + echo "错误: 无法找到与 USB 硬件地址 $USB_ADDRESS 对应的 CAN 接口。" + exit 1 + else + echo "找到与 USB 硬件地址 $USB_ADDRESS 对应的接口: $INTERFACE_NAME" + fi +else + # 获取唯一的 CAN 接口 + INTERFACE_NAME=$(ip -br link show type can | awk '{print $1}') + + # 检查是否获取到了接口名称 + if [ -z "$INTERFACE_NAME" ]; then + echo "错误: 无法检测到 CAN 接口。" + exit 1 + fi + BUS_INFO=$(sudo ethtool -i "$INTERFACE_NAME" | grep "bus-info" | awk '{print $2}') + echo "预期配置单个can模块，检测到接口 $INTERFACE_NAME，对应的usb地址为 $BUS_INFO" +fi + +# 检查当前接口是否已经激活 +IS_LINK_UP=$(ip link show "$INTERFACE_NAME" | grep -q "UP" && echo "yes" || echo "no") + +# 获取当前接口的比特率 +CURRENT_BITRATE=$(ip -details link show "$INTERFACE_NAME" | grep -oP 'bitrate \K\d+') + +if [ "$IS_LINK_UP" == "yes" ] && [ "$CURRENT_BITRATE" -eq "$DEFAULT_BITRATE" ]; then + echo "接口 $INTERFACE_NAME 已经激活，并且比特率为 $DEFAULT_BITRATE" + + # 检查接口名称是否与默认的名称匹配 + if [ "$INTERFACE_NAME" != "$DEFAULT_CAN_NAME" ]; then + echo "将接口 $INTERFACE_NAME 重命名为 $DEFAULT_CAN_NAME" + sudo ip link set "$INTERFACE_NAME" down + sudo ip link set "$INTERFACE_NAME" name "$DEFAULT_CAN_NAME" + sudo ip link set "$DEFAULT_CAN_NAME" up + echo "接口已重命名为 $DEFAULT_CAN_NAME，并重新激活。" + else + echo "接口名称已经是 $DEFAULT_CAN_NAME" + fi +else + # 如果接口未激活或比特率不同，进行设置 + if [ "$IS_LINK_UP" == "yes" ]; then + echo "接口 $INTERFACE_NAME 已经激活，但比特率为 $CURRENT_BITRATE，与设定的 $DEFAULT_BITRATE 不符。" + else + echo "接口 $INTERFACE_NAME 未激活或未设置比特率。" + fi + + # 设置接口比特率并激活 + sudo ip link set "$INTERFACE_NAME" down + sudo ip link set "$INTERFACE_NAME" type can bitrate $DEFAULT_BITRATE + sudo ip link set "$INTERFACE_NAME" up + echo "接口 $INTERFACE_NAME 已重新设置为比特率 $DEFAULT_BITRATE 并激活。" + + # 重命名接口为默认名称 + if [ "$INTERFACE_NAME" != "$DEFAULT_CAN_NAME" ]; then + echo "将接口 $INTERFACE_NAME 重命名为 $DEFAULT_CAN_NAME" + sudo ip link set "$INTERFACE_NAME" down + sudo ip link set "$INTERFACE_NAME" name "$DEFAULT_CAN_NAME" + sudo ip link set "$DEFAULT_CAN_NAME" up + echo "接口已重命名为 $DEFAULT_CAN_NAME，并重新激活。" + fi +fi + +echo "-------------------OVER------------------------" diff --git a/collect_data/piper_sdk_demo/can_config.MD b/collect_data/piper_sdk_demo/can_config.MD new file mode 100644 index 0000000000000000000000000000000000000000..ccb72323433ec506086c72069f2cead5eabe34fc --- /dev/null +++ b/collect_data/piper_sdk_demo/can_config.MD @@ -0,0 +1,95 @@ +# Agilex can模块配置说明 + +## 安装can工具 + +```shell +sudo apt update && sudo apt install can-utils ethtool +``` + +这两个工具用来配置can模块 + +如果执行bash脚本出现`ip: command not found` + +请安装ip指令，一般是`sudo apt-get install iproute2` + +## 快速使用 + +### 使能can模块 + +首先需要设置好shell脚本参数 + +#### 单条机械臂 + +##### pc只插入一个usb转can模块 + +- **此处使用`can_activate.sh`脚本** + +直接执行 + +```bash +bash can_activate.sh can0 1000000 +``` + +##### pc插入多个usb转can模块 + +- **此处使用`can_activate.sh`脚本** + +拔掉所有can模块 + +只将连接到机械臂的can模块插入PC，执行 + +```shell +sudo ethtool -i can0 | grep bus +``` + +并记录下`bus-info`的数值例如`1-2:1.0` + +ps:**一般第一个插入的can模块会默认是can0，如果没有查询到can可以使用`bash find_all_can_port.sh`来查看刚才usb地址对应的can名称** + +假设上面的操作记录的`bus-info`数值为`1-2:1.0` + +然后执行,查看can设备是否激活成功 + +```bash +bash can_activate.sh can_piper 1000000 "1-2:1.0" +``` + +ps:**此处的意思是，1-2:1.0硬件编码的usb端口插入的can设备，名字被重命名为can_piper，波特率为1000000，并激活** + +然后执行`ifconfig`查看是否有`can_piper`，如果有则can模块设置成功 + +#### 想要同时激活多个can模块 + +- **此处使用`can_config.sh`脚本** + +在`can_config.sh`中，`EXPECTED_CAN_COUNT`参数为想要激活的can模块数量,现在假设为2 + +然后can模块中的其中一个单独插入PC，执行 + +```shell +sudo ethtool -i can0 | grep bus +``` + +并记录下`bus-info`的数值例如`1-2:1.0` + +接着插入下一个can模块，注意不可以与上次can模块插入的usb口相同，然后执行 + +```shell +sudo ethtool -i can1 | grep bus +``` + +ps:**一般第一个插入的can模块会默认是can0，第二个为can1，如果没有查询到can可以使用`bash find_all_can_port.sh`来查看刚才usb地址对应的can名称** + +假设上面的操作记录的`bus-info`数值分别为`1-2:1.0`、`1-4:1.0` + +则将下面的`USB_PORTS["1-9:1.0"]="can_left:1000000"`的中括号内部的双引号内部的参数换为`1-2:1.0` + +另一个同理 + +`USB_PORTS["1-5:1.0"]="can_right:1000000"` -> `USB_PORTS["1-4:1.0"]="can_right:1000000"` + +ps:**此处的意思是，1-2:1.0硬件编码的usb端口插入的can设备，名字被重命名为can_left，波特率为1000000，并激活** + +然后执行`bash can_config.sh`,查看终端输出是否激活成功 + +然后执行`ifconfig`查看是不是有`can_left`和`can_right`，如果有则can模块设置成功 diff --git a/collect_data/piper_sdk_demo/piper_disable.py b/collect_data/piper_sdk_demo/piper_disable.py new file mode 100644 index 0000000000000000000000000000000000000000..b62f88d3a1862de8e28de90950196b7c0d1c62e6 --- /dev/null +++ b/collect_data/piper_sdk_demo/piper_disable.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 注意demo无法直接运行，需要pip安装sdk后才能运行 +# 使能机械臂 +from typing import ( + Optional, +) +import time +from piper_sdk import * + +def enable_fun(piper:C_PiperInterface, enable:bool): + ''' + 使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序 + ''' + enable_flag = False + loop_flag = False + # 设置超时时间（秒） + timeout = 5 + # 记录进入循环前的时间 + start_time = time.time() + elapsed_time_flag = False + while not (loop_flag): + elapsed_time = time.time() - start_time + print(f"--------------------") + enable_list = [] + enable_list.append(piper.GetArmLowSpdInfoMsgs().motor_1.foc_status.driver_enable_status) + enable_list.append(piper.GetArmLowSpdInfoMsgs().motor_2.foc_status.driver_enable_status) + enable_list.append(piper.GetArmLowSpdInfoMsgs().motor_3.foc_status.driver_enable_status) + enable_list.append(piper.GetArmLowSpdInfoMsgs().motor_4.foc_status.driver_enable_status) + enable_list.append(piper.GetArmLowSpdInfoMsgs().motor_5.foc_status.driver_enable_status) + enable_list.append(piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status) + if(enable): + enable_flag = all(enable_list) + piper.EnableArm(7) + piper.GripperCtrl(0,1000,0x01, 0) + else: + enable_flag = any(enable_list) + piper.DisableArm(7) + piper.GripperCtrl(0,1000,0x02, 0) + print(f"使能状态: {enable_flag}") + print(f"--------------------") + if(enable_flag == enable): + loop_flag = True + enable_flag = True + else: + loop_flag = False + enable_flag = False + # 检查是否超过超时时间 + if elapsed_time > timeout: + print(f"超时....") + elapsed_time_flag = True + enable_flag = False + loop_flag = True + break + time.sleep(0.5) + resp = enable_flag + print(f"Returning response: {resp}") + return resp + +# 测试代码 +if __name__ == "__main__": + piper = C_PiperInterface() + piper.ConnectPort() + import time + flag = enable_fun(piper=piper, enable=False) + if(flag == True): + print("失能成功!!!!") + exit(0) + pass diff --git a/collect_data/piper_sdk_demo/piper_read_arm_motor_max_angle_spd.py b/collect_data/piper_sdk_demo/piper_read_arm_motor_max_angle_spd.py new file mode 100644 index 0000000000000000000000000000000000000000..5ccd7aa61498b428b9d33b06d44b40aa5ae9e2c9 --- /dev/null +++ b/collect_data/piper_sdk_demo/piper_read_arm_motor_max_angle_spd.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 注意demo无法直接运行，需要pip安装sdk后才能运行 +# 读取机械臂的所有电机的最大加速度限制 + +from typing import ( + Optional, +) +import time +from piper_sdk import * + +# 测试代码 +if __name__ == "__main__": + piper = C_PiperInterface() + piper.ConnectPort() + while True: + # piper.SearchMotorMaxAngleSpdAccLimit(1,0x02) + piper.SearchAllMotorMaxAngleSpd() + # piper.SearchAllMotorMaxAccLimit() + + # print(piper.GetCurrentMotorMaxAccLimit()) + # print(piper.GetCurrentMotorAngleLimitMaxVel()) + print(piper.GetAllMotorAngleLimitMaxSpd()) + # print(piper.GetAllMotorMaxAccLimit()) + time.sleep(0.01) \ No newline at end of file diff --git a/collect_data/piper_sdk_demo/piper_set_mit.py b/collect_data/piper_sdk_demo/piper_set_mit.py new file mode 100644 index 0000000000000000000000000000000000000000..e0b209f2ebb85f9b6abb98cf1c49fc4021272cce --- /dev/null +++ b/collect_data/piper_sdk_demo/piper_set_mit.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 注意demo无法直接运行，需要pip安装sdk后才能运行 +# 设置机械臂为mit控制模式，这个模式下，机械臂相应最快 + +from typing import ( + Optional, +) +import time +from piper_sdk import * + +# 测试代码 +if __name__ == "__main__": + piper = C_PiperInterface() + piper.ConnectPort() + piper.MotionCtrl_2(0, 0, 0, 0xAD)# 0xFC diff --git a/collect_data/piper_sdk_demo/piper_slave_config.py b/collect_data/piper_sdk_demo/piper_slave_config.py new file mode 100644 index 0000000000000000000000000000000000000000..3568fb6832e47974f00e76536c85e949d5779691 --- /dev/null +++ b/collect_data/piper_sdk_demo/piper_slave_config.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 注意demo无法直接运行，需要pip安装sdk后才能运行 +# 设置机械臂为从动臂 +# 注意，如果是在机械臂处于主动臂模式下，发送设置指令后需要重新启动机械臂 +from typing import ( + Optional, +) +import time +from piper_sdk import * + +# 测试代码 +if __name__ == "__main__": + piper = C_PiperInterface() + piper.ConnectPort() + piper.MasterSlaveConfig(0xFC, 0, 0, 0) diff --git a/collect_data/piper_sdk_demo/piper_status.py b/collect_data/piper_sdk_demo/piper_status.py new file mode 100644 index 0000000000000000000000000000000000000000..c0768b52e010b93ad77ca1f6b738f163d3b6253c --- /dev/null +++ b/collect_data/piper_sdk_demo/piper_status.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python3 +# -*-coding:utf8-*- +# 注意demo无法直接运行，需要pip安装sdk后才能运行 +# 读取机械臂消息并打印,需要先安装piper_sdk +from typing import ( + Optional, +) +from piper_sdk import * + +# 测试代码 +if __name__ == "__main__": + piper = C_PiperInterface("can_right") + piper.ConnectPort() + while True: + import time + print(piper.GetArmJointMsgs()) + time.sleep(0.005) + pass diff --git a/collect_data/visualize_episodes.py b/collect_data/visualize_episodes.py new file mode 100644 index 0000000000000000000000000000000000000000..828e4308e121ec7a802e387cae7b2c953f7a333a --- /dev/null +++ b/collect_data/visualize_episodes.py @@ -0,0 +1,159 @@ +#coding=utf-8 +import os +import numpy as np +import cv2 +import h5py +import argparse +import matplotlib.pyplot as plt + +DT = 0.02 +# JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"] +JOINT_NAMES = ["joint0", "joint1", "joint2", "joint3", "joint4", "joint5"] +STATE_NAMES = JOINT_NAMES + ["gripper"] +BASE_STATE_NAMES = ["linear_vel", "angular_vel"] + +def load_hdf5(dataset_dir, dataset_name): + dataset_path = os.path.join(dataset_dir, dataset_name + '.hdf5') + if not os.path.isfile(dataset_path): + print(f'Dataset does not exist at \n{dataset_path}\n') + exit() + + with h5py.File(dataset_path, 'r') as root: + is_sim = root.attrs['sim'] + compressed = root.attrs.get('compress', False) + qpos = root['/observations/qpos'][()] + qvel = root['/observations/qvel'][()] + if 'effort' in root.keys(): + effort = root['/observations/effort'][()] + else: + effort = None + action = root['/action'][()] + base_action = root['/base_action'][()] + image_dict = dict() + for cam_name in root[f'/observations/images/'].keys(): + image_dict[cam_name] = root[f'/observations/images/{cam_name}'][()] + if compressed: + compress_len = root['/compress_len'][()] + + if compressed: + for cam_id, cam_name in enumerate(image_dict.keys()): + # un-pad and uncompress + padded_compressed_image_list = image_dict[cam_name] + image_list = [] + for frame_id, padded_compressed_image in enumerate(padded_compressed_image_list): # [:1000] to save memory + image_len = int(compress_len[cam_id, frame_id]) + compressed_image = padded_compressed_image + image = cv2.imdecode(compressed_image, 1) + image_list.append(image) + image_dict[cam_name] = image_list + + return qpos, qvel, effort, action, base_action, image_dict + +def main(args): + dataset_dir = args['dataset_dir'] + episode_idx = args['episode_idx'] + task_name = args['task_name'] + dataset_name = f'episode_{episode_idx}' + + qpos, qvel, effort, action, base_action, image_dict = load_hdf5(os.path.join(dataset_dir, task_name), dataset_name) + + print('hdf5 loaded!!') + + save_videos(image_dict, action, DT, video_path=os.path.join(dataset_dir, dataset_name + '_video.mp4')) + + + + visualize_joints(qpos, action, plot_path=os.path.join(dataset_dir, dataset_name + '_qpos.png')) + visualize_base(base_action, plot_path=os.path.join(dataset_dir, dataset_name + '_base_action.png')) + +def save_videos(video, actions, dt, video_path=None): + cam_names = list(video.keys()) + all_cam_videos = [] + for cam_name in cam_names: + all_cam_videos.append(video[cam_name]) + all_cam_videos = np.concatenate(all_cam_videos, axis=2) # width dimension + + n_frames, h, w, _ = all_cam_videos.shape + fps = int(1 / dt) + out = cv2.VideoWriter(video_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h)) + for t in range(n_frames): + image = all_cam_videos[t] + image = image[:, :, [2, 1, 0]] # swap B and R channel + cv2.imshow("images",image) + cv2.waitKey(30) + print("episode_id: ", t, "left: ", np.round(actions[t][:7], 3), "right: ", np.round(actions[t][7:], 3), "\n") + out.write(image) + out.release() + print(f'Saved video to: {video_path}') + + +def visualize_joints(qpos_list, command_list, plot_path=None, ylim=None, label_overwrite=None): + if label_overwrite: + label1, label2 = label_overwrite + else: + label1, label2 = 'State', 'Command' + + qpos = np.array(qpos_list) # ts, dim + command = np.array(command_list) + + num_ts, num_dim = qpos.shape + h, w = 2, num_dim + num_figs = num_dim + fig, axs = plt.subplots(num_figs, 1, figsize=(8, 2 * num_dim)) + + # plot joint state + all_names = [name + '_left' for name in STATE_NAMES] + [name + '_right' for name in STATE_NAMES] + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.plot(qpos[:, dim_idx], label=label1, color='orangered') + ax.set_title(f'Joint {dim_idx}: {all_names[dim_idx]}') + ax.legend() + + # plot arm command + # for dim_idx in range(num_dim): + # ax = axs[dim_idx] + # ax.plot(command[:, dim_idx], label=label2) + # ax.legend() + + if ylim: + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.set_ylim(ylim) + + plt.tight_layout() + plt.savefig(plot_path) + print(f'Saved qpos plot to: {plot_path}') + plt.close() + + +def visualize_base(readings, plot_path=None): + readings = np.array(readings) # ts, dim + num_ts, num_dim = readings.shape + num_figs = num_dim + fig, axs = plt.subplots(num_figs, 1, figsize=(8, 2 * num_dim)) + + # plot joint state + all_names = BASE_STATE_NAMES + for dim_idx in range(num_dim): + ax = axs[dim_idx] + ax.plot(readings[:, dim_idx], label='raw') + ax.plot(np.convolve(readings[:, dim_idx], np.ones(20)/20, mode='same'), label='smoothed_20') + ax.plot(np.convolve(readings[:, dim_idx], np.ones(10)/10, mode='same'), label='smoothed_10') + ax.plot(np.convolve(readings[:, dim_idx], np.ones(5)/5, mode='same'), label='smoothed_5') + ax.set_title(f'Joint {dim_idx}: {all_names[dim_idx]}') + ax.legend() + + + plt.tight_layout() + plt.savefig(plot_path) + print(f'Saved effort plot to: {plot_path}') + plt.close() + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('--dataset_dir', action='store', type=str, help='Dataset dir.', required=True) + parser.add_argument('--task_name', action='store', type=str, help='Task name.', + default="aloha_mobile_dummy", required=False) + parser.add_argument('--episode_idx', action='store', type=int, help='Episode index.',default=0, required=False) + + main(vars(parser.parse_args()))