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+* 适用于逻辑处理 +* 一对多的节点关系 + +#### 参数（Parameter） + +全局共享字典 + +* 可通过网络访问的共享且多变量字典 +* 适合存储静态的非二进制的参数 +* 不适合存储动态数据（ROS有动态参数配置） + +### 2. 文件系统 + +* 功能包（Package）：ROS软件中的基本单元，包含节点源码，配置文件，数据定义等 +* 功能包清单（Package Manifest）：功能包的基本信息 +* 元功能包（Meta Packages）：功能包合集，多个用于同一目的的功能包 + +## ROS命令行工具的使用 + +`rosnode` + +`rostopic` + +`rosservice` + +这三个可以查看相关命令； + +```shell +$ rqt_graph +``` + +用于调用QT显示节点信息； + +`rosbag` + +* record +* play + +## 创建工作空间与功能包 + +### 1. 工作空间（workspace） + +* src：代码空间；源代码，配置文件； +* build：编译空间 +* devel：开发空间 +* install：安装空间 + +**创建工作空间** + +创建workspace文件夹，在其下创建src文件夹 + +`catkin`是`ros`的编译公具； + +在src文件夹中： + +```shell +$ catkin_init_workspace +``` + +**编译工作空间** + +回到workspace文件夹目录，编译：（在根目录编译） + +```shell +$ catkin_make +``` + +如果要安装，需要用 + +```shell +$ catkin_make install +``` + +可以联系CMake的编译安装过程； + +**设置环境变量** + +```shell +$ source devel/setup.bash +``` + +**检查环境变量** + +```shell +$ echo $ROS_PACKAGE_PATH +``` + +### 2. 功能包（package） + +首先要切换到SRC文件中： + +```shell +$ cd src/ +``` + +注意，工作空间下不能有相同名字的功能包 + +功能包的创建： + +```shell +$ catkin_create_pkg [depend1] [depend2] +``` + +* 功能包的名字 +* 功能包的依赖 + +功能包的编译： + +```shell +$ cd ~/workspace # 首先切换到工作空间根目录 +$ catkin_make +$ source ~/workspace/devel/setup/bash +``` + +如果要运行某个程序，需要先设置环境变量，`setup.bash` + +## 发布者Publisher的编程实现 + +**首先，创建功能包** + +**其次，创建发布者代码** + +* 初始化ros节点； +* 向ROS Master注册节点信息，包括发布的话题名和话题中的消息类型； +* 创建消息数据； +* 按照一定频率循环发布消息； + +### 1. VS Code+ROS配置 + +参考：[VScode配置ROS开发环境](https://blog.csdn.net/qq_31918901/article/details/111474875?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1.pc_relevant_paycolumn_v2&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1.pc_relevant_paycolumn_v2&utm_relevant_index=1) + +其实google直接搜VS Code ROS配置，出来的东西都差不多，就用这个分析； + +需要在工作空间下打开`code` + +```shell +$ code. +``` + +需要配置c_cpp_properties.json,launch.json,tasks.json + +**`c_cpp_properties.json`** + +```json + "includePath": [ + "/usr/local/", + "/usr/include/", + "/opt/ros/melodic/include/" + ], + "compileCommands": "${workspaceFolder}/build/compile_commands.json", + "browse": { + "path": [ + "/usr/local/*", + "/usr/include/*", + "/opt/ros/melodic/include/*", + "/opt/ros/melodic/include/ros/*" + ] + } +``` + +大多的教程都提的加上 + +```json + "compileCommands": "${workspaceFolder}/build/compile_commands.json", +``` + +但是我的出问题，还是找不到ros的路径，后来加上了`includePath`，还是不行，最后把编译器换了，可以了； + +原本VS Code默认的编译器是GNU，但是上面的连接[VScode配置ROS开发环境](https://blog.csdn.net/qq_31918901/article/details/111474875?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1.pc_relevant_paycolumn_v2&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1.pc_relevant_paycolumn_v2&utm_relevant_index=1)给的是gcc和clang-arm64，没想到改了这个之后，居然可以了； + +考虑到VS Code是一个轻量级编辑器，而Clion比较吃内存，所以优先使用VS Code； + +Clion可以参考：[Clion + ROS配置官网教程](https://www.jetbrains.com/help/clion/ros-setup-tutorial.html)； + +build文件夹下生成compile_commands.json文件: + +```shell +$ catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1 +``` + +**`tasks.json`** + + + +**`launch.json`** diff --git a/Basics/README.md b/Basics/ros_com.md similarity index 99% rename from Basics/README.md rename to Basics/ros_com.md index 8a0640b..e240524 100644 --- a/Basics/README.md +++ b/Basics/ros_com.md @@ -1,4 +1,4 @@ -# ROS基础认知 +# ROS进程间通讯 在这里我准备大概说一说ROS的核心，进程间通讯。 diff --git a/Basics/ros_ws/.catkin_workspace b/Basics/ros_ws/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Basics/ros_ws/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Basics/ros_ws/build/.built_by b/Basics/ros_ws/build/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/Basics/ros_ws/build/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/Basics/ros_ws/build/CATKIN_IGNORE b/Basics/ros_ws/build/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/Basics/ros_ws/build/CMakeCache.txt b/Basics/ros_ws/build/CMakeCache.txt new file mode 100644 index 0000000..aa96880 --- /dev/null +++ b/Basics/ros_ws/build/CMakeCache.txt @@ -0,0 +1,571 @@ +# This is the CMakeCache file. +# For build in directory: 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DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if defined(_MSC_VER) && !defined(__clang__) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/Basics/ros_ws/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/Basics/ros_ws/build/CMakeFiles/3.10.2/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..11b7df452ad29dfd7bf1d9b188856c9e33182403 GIT binary patch literal 8408 zcmeHMZ;Vt|6~D8?!t!Tl2MTn7M#f4FRCd^=A*#)EvO{L4@?ab`%r1OW& zywQb-l59&d&~1tO0b?|pm>6Tf=!aVUV3zPl<0puTMQsyeKv$)@wH3D&7|*%y{AS;K zJ7|q2e&HrF=ic8v=iKwoJNM4HXTI3o*HaS+D72vZq~g)OS_f&DiEFE*L!@1`sfG0Y zh+3oO(|Df7ocVT#(5%yDL^Wug;6b7+*H+^Ie)@>;fx<$jVw!Mx$rX**^9-;uB|?3eZK=a;b94=RtVHla$^1ZnXF8Wn4p>8JmK@3CvLb0Z ztW_DcJ&t$b;{bV&{fGBlT%DqwQKL4B?TCBC>plsd8QB-W!-Cg^BU%zT#$g}+%>~W^ zjXwOZf=7J#0#Uf$hd(6vwFYNhHiMrB?YaxcGxOY(3+MPkn|9&YGdwrr!rkYJF@CGg zI8%FRQA8OpPTDo)E5`W6x(lkj^-BbmANvY@H>_=^-VdlZd=~4pyxm*6de|ua))>Dr zy>FmzqV@wa+nA^y*JRi4h_Sq4m}K5-Slh)jyS__<1I9${w}=|sXN=NKdlfCcgNL+q z{b2d}aI|6V3wnvc3%u&=nB-H;II(p|tJ!dmETrB6wr7cPX4kK2G*w?Nm!}N+x?KAXjRS1XNjB`=3#5{s zhuH`JFiafWE1kGyl#17X+I@$4j58~~PC{q8ZyD!|z?FvARKrgu1KoEBpSTZxq8iQ$ z;#bIHWm4Mk+Ps>InuFEZ@35JU|6 zW?ncu`+nZNK+nywq@#zu;BA4*sp!Qq>fO_`cSk&zIhsl*^M~lP9K?)6J@e*gllej_ zmp#<%v~5x8Y(=MeP-%&yY0DnYiflue=xMk!#qa%Za{9bRAJXOQZM7<%>iw61_om3q`_43VlBBxdo2zSAnr`V9k;R zb!P($!i@88{Lk)`%b#EdY1R2@9hztUG2+)}TPWNUYW!5g;?LEcR8Otm`S=s-^zqE{ zUGzCZe04<8SoS&k43WJrGZ+hnPt|nR&#x(wMUKqp3BE@2NuKWrg<&dH z=5>VDzf^04norF)LT%#<`a|vcP+Kh291E@Q2t|mG_&Y*%`rKtdDDs2*d}8Q9d*Fcw z9(dq^|Az;V=OM2{P6fI|jB1o*NUlpNA^97wfyf`%2tUqP&a=58kL2@~8|MFZubkuY zIXM)Oa~YDXNxG?Cm-$7^Oznh2)MBBHLRSa{LC!ZRd7YT8W@G|(MC5_xx~QPeS7hRmALZaixl>c7hkNJ5%8{wpjx8ZtK#*Q zI*f~*?#-dfe)QrE>SUEb3sN?MI)ayfsTxI~yC#BkQ^x*w!L;r}m3{5SDchI7W&V1M^$e6Aldq6gUtbNzXa@M`wo@43FG^(<9s99UT3K6-wn=a@82>$qapU^;+_uD`Zu#EhFMB)(JbuHl$R^@APjn9pTorH(g$~p0{ zituGs;=e=VKIJsDM2|n-vV=$Gva1t>FRfXra2|r?G~;S^f6bGLuWEdy^4B}QLpb|k zT7J-y!heZqnBuC<7w03wkGd=FLO&G!{yNJg!dZ`hzg!hPpOJO-9f#KZrRee3S>9uu zp4YF3ucZ;O*-cgx{-_&}{`d8|bI-k2;%C22N<3^9{!WdrR1sg@N5%7Y!7dIDN8@U? zEN0pnGtPyv0u{v)IddeP8?w@7!p`Ljrd1qMd_ztr?PMalt#x}_btW#!rA#ZIw~m>~ zteromhVxb?X(o!9%rO#ijZEUSJ*=Jm*7M2EPPvHpCdfR~?Aagd?>4*lbeUA0^U5TY z+4bz6SbuM)cSe^138I_4*=>jhqier1clYh>i1nF!dwQPk9xw-D9ev%bRTmHAg`&3p zUzZD$3Cp%1GFxwKZ}$`&P3Cfnip1-!Fq(-%&K$L}39df&?j^27Dr*)C$%IN}hjS*% z23UmcVpln{C{xhvP@y18=!&NnPFvZLqBTMe_tqAOoywkYBiBQ#7CF6TRqsP-{ZjmJ zY~fl4RU-<=GPX5D)XqC}6unfI%B@FLG@G-N(O5@slWmR2Xe3*V4i!^W+fF4^lt-gh zVN^vE$Fii)p?2Px!J?W?1}4qrlWB_uR8;#XdNge-{)&#|sADI`=$qq_ICJ{7MU$fv zfujkM$H)ig-H^|LMg#}Jd5Uohb=>mE`#{%$QK(3}~C+C%bu z*MR)%(g8)mmycO~cE}@BIY<~^0U(cj6BPFuV$sd-zr%#`-2(E+OF?l@gZEaE0Ua2FzT%TdehmtHA&)UA=V$Kq@w*JV42}^6SQq-f;giSx8PuP~`JeyW zB9CQG%I_!Wt5`^A#5d-7wjc7y-$0-A@%z{Ru}>cN1kgHG?rQKGpo`SuoLj=Ca-YEe zjDCKML9dW(gG(Ougc&JFfR9*o!x;2ULOJ%Ze&v3`Mp2s-`w^dz!+ZQP@h}VIagUi~ zqo}p(@7XWNgWjYmw|pi4lm(h+MRgByfd51t#;`u}vu2U^^ZQo<$zxZd+PeP9pHKaOwM?v_7GsXn)UpK`40%yQ0HUH&aufbSpf=9m8` D$)0nc literal 0 HcmV?d00001 diff --git a/Basics/ros_ws/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/Basics/ros_ws/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..2d66298 --- /dev/null +++ b/Basics/ros_ws/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,576 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# 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defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(_MSC_VER) && defined(_MSVC_LANG) +#define CXX_STD _MSVC_LANG +#else +#define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201402L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif 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@echo "... turtlesim_generate_messages_lisp" + @echo "... turtlesim_generate_messages_nodejs" + @echo "... turtlesim_generate_messages_py" + @echo "... roscpp_generate_messages_cpp" + @echo "... std_srvs_generate_messages_py" + @echo "... std_srvs_generate_messages_eus" +.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: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/Basics/ros_ws/build/atomic_configure/.rosinstall b/Basics/ros_ws/build/atomic_configure/.rosinstall new file mode 100644 index 0000000..5465b95 --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/ros_ws/devel/setup.sh diff --git a/Basics/ros_ws/build/atomic_configure/_setup_util.py b/Basics/ros_ws/build/atomic_configure/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/ros_ws/build/atomic_configure/env.sh b/Basics/ros_ws/build/atomic_configure/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/ros_ws/build/atomic_configure/local_setup.bash b/Basics/ros_ws/build/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/ros_ws/build/atomic_configure/local_setup.sh b/Basics/ros_ws/build/atomic_configure/local_setup.sh new file mode 100644 index 0000000..efeb4f6 --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/ros_ws/build/atomic_configure/local_setup.zsh b/Basics/ros_ws/build/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/ros_ws/build/atomic_configure/setup.bash b/Basics/ros_ws/build/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/ros_ws/build/atomic_configure/setup.sh b/Basics/ros_ws/build/atomic_configure/setup.sh new file mode 100644 index 0000000..e26742d --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/ros_ws/build/atomic_configure/setup.zsh b/Basics/ros_ws/build/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/ros_ws/build/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/ros_ws/build/catkin/catkin_generated/version/package.cmake b/Basics/ros_ws/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..3e52286 --- /dev/null +++ b/Basics/ros_ws/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.29") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/Basics/ros_ws/build/catkin_generated/env_cached.sh b/Basics/ros_ws/build/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/Basics/ros_ws/build/catkin_generated/generate_cached_setup.py b/Basics/ros_ws/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..2d1dde9 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/hazyparker/project/learn_ros/Basics/ros_ws/devel/env.sh') + +output_filename = '/home/hazyparker/project/learn_ros/Basics/ros_ws/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/Basics/ros_ws/build/catkin_generated/installspace/.rosinstall b/Basics/ros_ws/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..0b34d1d --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/ros_ws/install/setup.sh diff --git a/Basics/ros_ws/build/catkin_generated/installspace/_setup_util.py b/Basics/ros_ws/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/ros_ws/build/catkin_generated/installspace/env.sh b/Basics/ros_ws/build/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/ros_ws/build/catkin_generated/installspace/local_setup.bash b/Basics/ros_ws/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/ros_ws/build/catkin_generated/installspace/local_setup.sh b/Basics/ros_ws/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..a3a31d4 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/ros_ws/build/catkin_generated/installspace/local_setup.zsh b/Basics/ros_ws/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/ros_ws/build/catkin_generated/installspace/setup.bash b/Basics/ros_ws/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/ros_ws/build/catkin_generated/installspace/setup.sh b/Basics/ros_ws/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..6445bd9 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/ros_ws/build/catkin_generated/installspace/setup.zsh b/Basics/ros_ws/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/ros_ws/build/catkin_generated/order_packages.cmake b/Basics/ros_ws/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000..60bf8b7 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/order_packages.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "learning_topic") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "learning_topic") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/Basics/ros_ws/build/catkin_generated/order_packages.py b/Basics/ros_ws/build/catkin_generated/order_packages.py new file mode 100644 index 0000000..8855229 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/hazyparker/project/learn_ros/Basics/ros_ws/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/opt/ros/melodic'.split(';') if '/opt/ros/melodic' != '' else [] diff --git a/Basics/ros_ws/build/catkin_generated/setup_cached.sh b/Basics/ros_ws/build/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..9f9a872 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/setup_cached.sh @@ -0,0 +1,15 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/hazyparker/project/learn_ros/Basics/ros_ws/devel:$CMAKE_PREFIX_PATH" +export LD_LIBRARY_PATH="/home/hazyparker/project/learn_ros/Basics/ros_ws/devel/lib:$LD_LIBRARY_PATH" +export PKG_CONFIG_PATH="/home/hazyparker/project/learn_ros/Basics/ros_ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PWD='/home/hazyparker/project/learn_ros/Basics/ros_ws/build' +export ROSLISP_PACKAGE_DIRECTORIES='/home/hazyparker/project/learn_ros/Basics/ros_ws/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/home/hazyparker/project/learn_ros/Basics/ros_ws/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/Basics/ros_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/Basics/ros_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/ros_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/Basics/ros_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/Basics/ros_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/Basics/ros_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000..7ec7539 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/Basics/ros_ws/build/catkin_generated/stamps/Project/package.xml.stamp b/Basics/ros_ws/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000..9a1f675 --- /dev/null +++ b/Basics/ros_ws/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,48 @@ + + + + catkin + 0.7.29 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/Basics/ros_ws/build/catkin_make.cache b/Basics/ros_ws/build/catkin_make.cache new file mode 100644 index 0000000..e235dce --- /dev/null +++ b/Basics/ros_ws/build/catkin_make.cache @@ -0,0 +1,2 @@ +learning_topic +-DCMAKE_EXPORT_COMPILE_COMMANDS=Yes -DCATKIN_DEVEL_PREFIX=/home/hazyparker/project/learn_ros/Basics/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/hazyparker/project/learn_ros/Basics/ros_ws/install -G Unix Makefiles \ No newline at end of file diff --git a/Basics/ros_ws/build/cmake_install.cmake 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learning_topic/CMakeFiles/roscpp_generate_messages_cpp.dir/build +.PHONY : roscpp_generate_messages_cpp/fast + +# Convenience name for target. +learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/rule: + cd /home/hazyparker/project/learn_ros/Basics/ros_ws/build && $(MAKE) -f CMakeFiles/Makefile2 learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/rule +.PHONY : learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/rule + +# Convenience name for target. +std_srvs_generate_messages_py: learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/rule + +.PHONY : std_srvs_generate_messages_py + +# fast build rule for target. +std_srvs_generate_messages_py/fast: + cd /home/hazyparker/project/learn_ros/Basics/ros_ws/build && $(MAKE) -f learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/build.make learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/build +.PHONY : std_srvs_generate_messages_py/fast + +# Convenience name for target. 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depend" + @echo "... install/strip" + @echo "... roscpp_generate_messages_py" + @echo "... list_install_components" + @echo "... std_msgs_generate_messages_py" + @echo "... std_srvs_generate_messages_lisp" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... roscpp_generate_messages_nodejs" + @echo "... roscpp_generate_messages_eus" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... roscpp_generate_messages_lisp" + @echo "... geometry_msgs_generate_messages_nodejs" + @echo "... edit_cache" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... test" + @echo "... geometry_msgs_generate_messages_py" + @echo "... turtlesim_generate_messages_cpp" + @echo "... std_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_eus" + @echo "... std_srvs_generate_messages_cpp" + @echo "... install" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... turtlesim_generate_messages_eus" + @echo "... std_srvs_generate_messages_nodejs" + @echo "... rosgraph_msgs_generate_messages_nodejs" + @echo "... turtlesim_generate_messages_lisp" + @echo "... turtlesim_generate_messages_nodejs" + @echo "... turtlesim_generate_messages_py" + @echo "... roscpp_generate_messages_cpp" + @echo "... rebuild_cache" + @echo "... std_srvs_generate_messages_py" + @echo "... std_srvs_generate_messages_eus" + @echo "... install/local" +.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/hazyparker/project/learn_ros/Basics/ros_ws/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topic.pc b/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topic.pc new file mode 100644 index 0000000..90e884b --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topic.pc @@ -0,0 +1,8 @@ +prefix=/home/hazyparker/project/learn_ros/Basics/ros_ws/install + +Name: learning_topic +Description: Description of learning_topic +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig-version.cmake b/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig.cmake b/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig.cmake new file mode 100644 index 0000000..a8329c8 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig.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(learning_topic_CONFIG_INCLUDED) + return() +endif() +set(learning_topic_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(learning_topic_SOURCE_PREFIX /home/hazyparker/project/learn_ros/Basics/ros_ws/src/learning_topic) + set(learning_topic_DEVEL_PREFIX /home/hazyparker/project/learn_ros/Basics/ros_ws/devel) + set(learning_topic_INSTALL_PREFIX "") + set(learning_topic_PREFIX ${learning_topic_DEVEL_PREFIX}) +else() + set(learning_topic_SOURCE_PREFIX "") + set(learning_topic_DEVEL_PREFIX "") + set(learning_topic_INSTALL_PREFIX /home/hazyparker/project/learn_ros/Basics/ros_ws/install) + set(learning_topic_PREFIX ${learning_topic_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'learning_topic' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(learning_topic_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(learning_topic_INCLUDE_DIRS "") + set(_include_dirs "") + 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 'hazyparker ' 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 "${learning_topic_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(learning_topic_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 learning_topic_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND learning_topic_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 learning_topic_NUM_DUMMY_TARGETS) + set(learning_topic_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR learning_topic_NUM_DUMMY_TARGETS "${learning_topic_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_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 learning_topic_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND learning_topic_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND learning_topic_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/hazyparker/project/learn_ros/Basics/ros_ws/install/lib;/opt/ros/melodic/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(learning_topic_LIBRARY_DIRS ${lib_path}) + list(APPEND learning_topic_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 'learning_topic'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND learning_topic_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(learning_topic_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${learning_topic_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 learning_topic_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${learning_topic_dep}_FOUND) + find_package(${learning_topic_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${learning_topic_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(learning_topic_INCLUDE_DIRS ${${learning_topic_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${learning_topic_dep}_LIBRARIES}) + _list_append_deduplicate(learning_topic_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + + _list_append_unique(learning_topic_LIBRARY_DIRS ${${learning_topic_dep}_LIBRARY_DIRS}) + list(APPEND learning_topic_EXPORTED_TARGETS ${${learning_topic_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${learning_topic_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/ordered_paths.cmake b/Basics/ros_ws/build/learning_topic/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/package.cmake b/Basics/ros_ws/build/learning_topic/catkin_generated/package.cmake new file mode 100644 index 0000000..40095a3 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "learning_topic") +set(learning_topic_VERSION "0.0.0") +set(learning_topic_MAINTAINER "hazyparker ") +set(learning_topic_PACKAGE_FORMAT "2") +set(learning_topic_BUILD_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_BUILD_EXPORT_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_BUILDTOOL_DEPENDS "catkin") +set(learning_topic_BUILDTOOL_EXPORT_DEPENDS ) +set(learning_topic_EXEC_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_RUN_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_TEST_DEPENDS ) +set(learning_topic_DOC_DEPENDS ) +set(learning_topic_URL_WEBSITE "") +set(learning_topic_URL_BUGTRACKER "") +set(learning_topic_URL_REPOSITORY "") +set(learning_topic_DEPRECATED "") \ No newline at end of file diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/pkg.develspace.context.pc.py b/Basics/ros_ws/build/learning_topic/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..53d9b46 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "learning_topic" +PROJECT_SPACE_DIR = "/home/hazyparker/project/learn_ros/Basics/ros_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/pkg.installspace.context.pc.py b/Basics/ros_ws/build/learning_topic/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..0040c06 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "learning_topic" +PROJECT_SPACE_DIR = "/home/hazyparker/project/learn_ros/Basics/ros_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/stamps/learning_topic/package.xml.stamp b/Basics/ros_ws/build/learning_topic/catkin_generated/stamps/learning_topic/package.xml.stamp new file mode 100644 index 0000000..678469c --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/stamps/learning_topic/package.xml.stamp @@ -0,0 +1,74 @@ + + + learning_topic + 0.0.0 + The learning_topic package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + + + + + + + diff --git a/Basics/ros_ws/build/learning_topic/catkin_generated/stamps/learning_topic/pkg.pc.em.stamp b/Basics/ros_ws/build/learning_topic/catkin_generated/stamps/learning_topic/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/catkin_generated/stamps/learning_topic/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/Basics/ros_ws/build/learning_topic/cmake_install.cmake b/Basics/ros_ws/build/learning_topic/cmake_install.cmake new file mode 100644 index 0000000..cd1b611 --- /dev/null +++ b/Basics/ros_ws/build/learning_topic/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/hazyparker/project/learn_ros/Basics/ros_ws/src/learning_topic + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/hazyparker/project/learn_ros/Basics/ros_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 "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${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}/lib/pkgconfig" TYPE FILE FILES "/home/hazyparker/project/learn_ros/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topic.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/learning_topic/cmake" TYPE FILE FILES + "/home/hazyparker/project/learn_ros/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig.cmake" + "/home/hazyparker/project/learn_ros/Basics/ros_ws/build/learning_topic/catkin_generated/installspace/learning_topicConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/learning_topic" TYPE FILE FILES "/home/hazyparker/project/learn_ros/Basics/ros_ws/src/learning_topic/package.xml") +endif() + diff --git a/Basics/ros_ws/devel/.built_by b/Basics/ros_ws/devel/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/Basics/ros_ws/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/Basics/ros_ws/devel/.catkin b/Basics/ros_ws/devel/.catkin new file mode 100644 index 0000000..ae48ce5 --- /dev/null +++ b/Basics/ros_ws/devel/.catkin @@ -0,0 +1 @@ +/home/hazyparker/project/learn_ros/Basics/ros_ws/src \ No newline at end of file diff --git a/Basics/ros_ws/devel/.rosinstall b/Basics/ros_ws/devel/.rosinstall new file mode 100644 index 0000000..5465b95 --- /dev/null +++ b/Basics/ros_ws/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/ros_ws/devel/setup.sh diff --git a/Basics/ros_ws/devel/_setup_util.py b/Basics/ros_ws/devel/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/ros_ws/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/ros_ws/devel/cmake.lock b/Basics/ros_ws/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/Basics/ros_ws/devel/env.sh b/Basics/ros_ws/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/ros_ws/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/ros_ws/devel/lib/pkgconfig/learning_topic.pc b/Basics/ros_ws/devel/lib/pkgconfig/learning_topic.pc new file mode 100644 index 0000000..ee9485c --- /dev/null +++ b/Basics/ros_ws/devel/lib/pkgconfig/learning_topic.pc @@ -0,0 +1,8 @@ +prefix=/home/hazyparker/project/learn_ros/Basics/ros_ws/devel + +Name: learning_topic +Description: Description of learning_topic +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/Basics/ros_ws/devel/local_setup.bash b/Basics/ros_ws/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/ros_ws/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/ros_ws/devel/local_setup.sh b/Basics/ros_ws/devel/local_setup.sh new file mode 100644 index 0000000..efeb4f6 --- /dev/null +++ b/Basics/ros_ws/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/ros_ws/devel/local_setup.zsh b/Basics/ros_ws/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/ros_ws/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/ros_ws/devel/setup.bash b/Basics/ros_ws/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/ros_ws/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/ros_ws/devel/setup.sh b/Basics/ros_ws/devel/setup.sh new file mode 100644 index 0000000..e26742d --- /dev/null +++ b/Basics/ros_ws/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/ros_ws/devel/setup.zsh b/Basics/ros_ws/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/ros_ws/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/ros_ws/devel/share/learning_topic/cmake/learning_topicConfig-version.cmake b/Basics/ros_ws/devel/share/learning_topic/cmake/learning_topicConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/Basics/ros_ws/devel/share/learning_topic/cmake/learning_topicConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/Basics/ros_ws/devel/share/learning_topic/cmake/learning_topicConfig.cmake b/Basics/ros_ws/devel/share/learning_topic/cmake/learning_topicConfig.cmake new file mode 100644 index 0000000..5a8e939 --- /dev/null +++ b/Basics/ros_ws/devel/share/learning_topic/cmake/learning_topicConfig.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(learning_topic_CONFIG_INCLUDED) + return() +endif() +set(learning_topic_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(learning_topic_SOURCE_PREFIX /home/hazyparker/project/learn_ros/Basics/ros_ws/src/learning_topic) + set(learning_topic_DEVEL_PREFIX /home/hazyparker/project/learn_ros/Basics/ros_ws/devel) + set(learning_topic_INSTALL_PREFIX "") + set(learning_topic_PREFIX ${learning_topic_DEVEL_PREFIX}) +else() + set(learning_topic_SOURCE_PREFIX "") + set(learning_topic_DEVEL_PREFIX "") + set(learning_topic_INSTALL_PREFIX /home/hazyparker/project/learn_ros/Basics/ros_ws/install) + set(learning_topic_PREFIX ${learning_topic_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'learning_topic' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(learning_topic_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(learning_topic_INCLUDE_DIRS "") + set(_include_dirs "") + 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 'hazyparker ' 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 "${learning_topic_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/hazyparker/project/learn_ros/Basics/ros_ws/src/learning_topic/${idir}'. ${_report}") + endif() + _list_append_unique(learning_topic_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 learning_topic_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND learning_topic_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 learning_topic_NUM_DUMMY_TARGETS) + set(learning_topic_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR learning_topic_NUM_DUMMY_TARGETS "${learning_topic_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_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 learning_topic_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND learning_topic_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND learning_topic_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/hazyparker/project/learn_ros/Basics/ros_ws/devel/lib;/opt/ros/melodic/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(learning_topic_LIBRARY_DIRS ${lib_path}) + list(APPEND learning_topic_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 'learning_topic'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND learning_topic_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(learning_topic_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${learning_topic_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 learning_topic_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${learning_topic_dep}_FOUND) + find_package(${learning_topic_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${learning_topic_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(learning_topic_INCLUDE_DIRS ${${learning_topic_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${learning_topic_dep}_LIBRARIES}) + _list_append_deduplicate(learning_topic_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + + _list_append_unique(learning_topic_LIBRARY_DIRS ${${learning_topic_dep}_LIBRARY_DIRS}) + list(APPEND learning_topic_EXPORTED_TARGETS ${${learning_topic_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${learning_topic_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Basics/ros_ws/install/.catkin b/Basics/ros_ws/install/.catkin new file mode 100644 index 0000000..e69de29 diff --git a/Basics/ros_ws/install/.rosinstall b/Basics/ros_ws/install/.rosinstall new file mode 100644 index 0000000..0b34d1d --- /dev/null +++ b/Basics/ros_ws/install/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/ros_ws/install/setup.sh diff --git a/Basics/ros_ws/install/_setup_util.py b/Basics/ros_ws/install/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/ros_ws/install/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/ros_ws/install/env.sh b/Basics/ros_ws/install/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/ros_ws/install/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/ros_ws/install/local_setup.bash b/Basics/ros_ws/install/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/ros_ws/install/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/ros_ws/install/local_setup.sh b/Basics/ros_ws/install/local_setup.sh new file mode 100644 index 0000000..a3a31d4 --- /dev/null +++ b/Basics/ros_ws/install/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/ros_ws/install/local_setup.zsh b/Basics/ros_ws/install/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/ros_ws/install/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/ros_ws/install/setup.bash b/Basics/ros_ws/install/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/ros_ws/install/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/ros_ws/install/setup.sh b/Basics/ros_ws/install/setup.sh new file mode 100644 index 0000000..6445bd9 --- /dev/null +++ b/Basics/ros_ws/install/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/ros_ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/ros_ws/install/setup.zsh b/Basics/ros_ws/install/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/ros_ws/install/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/ros_ws/src/.idea/.gitignore b/Basics/ros_ws/src/.idea/.gitignore new file mode 100644 index 0000000..13566b8 --- /dev/null +++ b/Basics/ros_ws/src/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Editor-based HTTP Client requests +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/Basics/ros_ws/src/.idea/misc.xml b/Basics/ros_ws/src/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/Basics/ros_ws/src/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/Basics/ros_ws/src/.idea/modules.xml b/Basics/ros_ws/src/.idea/modules.xml new file mode 100644 index 0000000..f669a0e --- /dev/null +++ b/Basics/ros_ws/src/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/Basics/ros_ws/src/.idea/src.iml b/Basics/ros_ws/src/.idea/src.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/Basics/ros_ws/src/.idea/src.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/Basics/ros_ws/src/.idea/vcs.xml b/Basics/ros_ws/src/.idea/vcs.xml new file mode 100644 index 0000000..c2365ab --- /dev/null +++ b/Basics/ros_ws/src/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/Basics/ros_ws/src/CMakeLists.txt b/Basics/ros_ws/src/CMakeLists.txt new file mode 120000 index 0000000..66dd650 --- /dev/null +++ b/Basics/ros_ws/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/Basics/ros_ws/src/learning_topic/.idea/.gitignore b/Basics/ros_ws/src/learning_topic/.idea/.gitignore new file mode 100644 index 0000000..13566b8 --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Editor-based HTTP Client requests +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/Basics/ros_ws/src/learning_topic/.idea/learning_topic.iml b/Basics/ros_ws/src/learning_topic/.idea/learning_topic.iml new file mode 100644 index 0000000..f08604b --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/.idea/learning_topic.iml @@ -0,0 +1,2 @@ + + \ No newline at end of file diff --git a/Basics/ros_ws/src/learning_topic/.idea/misc.xml b/Basics/ros_ws/src/learning_topic/.idea/misc.xml new file mode 100644 index 0000000..79b3c94 --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/Basics/ros_ws/src/learning_topic/.idea/modules.xml b/Basics/ros_ws/src/learning_topic/.idea/modules.xml new file mode 100644 index 0000000..c9b769b --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/Basics/ros_ws/src/learning_topic/.idea/vcs.xml b/Basics/ros_ws/src/learning_topic/.idea/vcs.xml new file mode 100644 index 0000000..4fce1d8 --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/Basics/ros_ws/src/learning_topic/CMakeLists.txt b/Basics/ros_ws/src/learning_topic/CMakeLists.txt new file mode 100644 index 0000000..af87416 --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_topic) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_topic +# CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_topic.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_topic_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_topic.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/ros_ws/src/learning_topic/package.xml b/Basics/ros_ws/src/learning_topic/package.xml new file mode 100644 index 0000000..678469c --- /dev/null +++ b/Basics/ros_ws/src/learning_topic/package.xml @@ -0,0 +1,74 @@ + + + learning_topic + 0.0.0 + The learning_topic package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + + + + + + + diff --git a/Basics/test_ws/.catkin_workspace b/Basics/test_ws/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Basics/test_ws/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Basics/test_ws/.vscode/c_cpp_properties.json b/Basics/test_ws/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..b566baf --- /dev/null +++ b/Basics/test_ws/.vscode/c_cpp_properties.json @@ -0,0 +1,30 @@ +{ + "configurations": [ + { + "name": "Linux", + "includePath": [ + "${workspaceFolder}/**", + "/usr/local/", + "/usr/include/", + "/opt/ros/melodic/include/", + "/opt/ros/melodic/include/ros" + ], + "defines": [], + "compilerPath": "/usr/bin/gcc", + "compileCommands": "${workspaceFolder}/build/compile_commands.json", + "cStandard": "c11", + "cppStandard": "c++17", + "intelliSenseMode": "clang-arm64", + "browse": { + "path": [ + "/usr/local/*", + "/usr/include/*", + "/opt/ros/melodic/include/*", + "/opt/ros/melodic/include/ros/*" + ] + } + + } + ], + "version": 4 +} \ No newline at end of file diff --git a/Basics/test_ws/.vscode/settings.json b/Basics/test_ws/.vscode/settings.json new file mode 100644 index 0000000..a560512 --- /dev/null +++ b/Basics/test_ws/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "python.autoComplete.extraPaths": [ + "/opt/ros/melodic/lib/python2.7/dist-packages" + ] +} \ No newline at end of file diff --git a/Basics/test_ws/.vscode/tasks.json b/Basics/test_ws/.vscode/tasks.json new file mode 100644 index 0000000..1490d3c --- /dev/null +++ b/Basics/test_ws/.vscode/tasks.json @@ -0,0 +1,19 @@ +{ + // See https://go.microsoft.com/fwlink/?LinkId=733558 + // for the documentation about the tasks.json format + "version": "2.0.0", + "tasks": [ + { + "label": "catkin_make", //代表提示的描述性信息 + "type": "shell", //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行 + "command": "catkin_make",//这个是我们需要运行的命令 + "args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2” + "group": {"kind":"build","isDefault":true}, + "presentation": { + "reveal": "always"//可选always或者silence，代表是否输出信息 + }, + "problemMatcher": "$msCompile" + + } + ] +} \ No newline at end of file diff --git a/Basics/test_ws/build/.built_by b/Basics/test_ws/build/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/Basics/test_ws/build/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/Basics/test_ws/build/CATKIN_IGNORE b/Basics/test_ws/build/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/Basics/test_ws/build/CMakeCache.txt b/Basics/test_ws/build/CMakeCache.txt new file mode 100644 index 0000000..9a2526b --- /dev/null +++ b/Basics/test_ws/build/CMakeCache.txt @@ -0,0 +1,577 @@ +# This is the CMakeCache file. +# For build in directory: /home/hazyparker/project/learn_ros/Basics/test_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 +######################## + +//Builds the googlemock subproject +BUILD_GMOCK:BOOL=ON + +//Builds the googletest subproject +BUILD_GTEST:BOOL=OFF + +//Build shared libraries (DLLs). 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the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-7 + +//Flags used by the compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release builds for minimum +// size. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds. +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during release builds with debug info. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//Flags used by the linker. +CMAKE_EXE_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. 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to a program. +CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy + +//Path to a program. +CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=Project + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Flags used by the linker during the creation of dll's. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during debug builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during release minsize builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during release builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during Release with Debug Info builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + 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This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=/usr/bin/empy + +//Empy script +EMPY_SCRIPT:STRING=/usr/bin/empy + +//The directory containing a CMake configuration file for GMock. +GMock_DIR:PATH=GMock_DIR-NOTFOUND + +//Path to a file. +GTEST_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +GTEST_LIBRARY:FILEPATH=GTEST_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=GTEST_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//lsb_release executable was found +LSB_FOUND:BOOL=TRUE + +//Path to a program. +LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release + +//Path to a program. +NOSETESTS:FILEPATH=/usr/bin/nosetests-2.7 + +//Path to a program. +PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python2 + +//Specify specific Python version to use ('major.minor' or 'major') +PYTHON_VERSION:STRING=2 + +//Value Computed by CMake +Project_BINARY_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/build + +//Value Computed by CMake +Project_SOURCE_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/src + +//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 + +//Name of the computer/site where compile is being run +SITE:STRING=hazy-LenovoAir14 + +//LSB Distrib tag +UBUNTU:BOOL=TRUE + +//LSB Distrib - codename tag +UBUNTU_BIONIC:BOOL=TRUE + +//Path to a file. +_gmock_INCLUDES:FILEPATH=/usr/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 + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/melodic/share/catkin/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/melodic/share/cpp_common/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/melodic/share/geometry_msgs/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/build/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;-lpthread; + +//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;-lpthread; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/build/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/build/gtest/googlemock/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//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;-lpthread;general;gtest; + +//Value Computed by CMake +learning_topic_BINARY_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/build/learning_topic + +//Value Computed by CMake +learning_topic_SOURCE_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/src/learning_topic + +//Path to a library. +lib:FILEPATH=/opt/ros/melodic/lib/libxmlrpcpp.so + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/melodic/share/message_runtime/cmake + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/melodic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/melodic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/melodic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/melodic/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/melodic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for rospy. +rospy_DIR:PATH=/opt/ros/melodic/share/rospy/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/melodic/share/rostime/cmake + +//The directory containing a CMake configuration file for std_msgs. +std_msgs_DIR:PATH=/opt/ros/melodic/share/std_msgs/cmake + +//The directory containing a CMake configuration file for std_srvs. +std_srvs_DIR:PATH=/opt/ros/melodic/share/std_srvs/cmake + +//Value Computed by CMake +test_pkg_BINARY_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/build/test_pkg + +//Value Computed by CMake +test_pkg_SOURCE_DIR:STATIC=/home/hazyparker/project/learn_ros/Basics/test_ws/src/test_pkg + +//The directory containing a CMake configuration file for turtlesim. +turtlesim_DIR:PATH=/opt/ros/melodic/share/turtlesim/cmake + +//The directory containing a CMake configuration file for xmlrpcpp. +xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake + + +######################## +# INTERNAL cache entries +######################## + +//catkin environment +CATKIN_ENV:INTERNAL=/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/env_cached.sh +CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/hazyparker/project/learn_ros/Basics/test_ws/build/test_results +//ADVANCED property for variable: CMAKE_AR +CMAKE_AR-ADVANCED:INTERNAL=1 +//This is the directory where this CMakeCache.txt was created +CMAKE_CACHEFILE_DIR:INTERNAL=/home/hazyparker/project/learn_ros/Basics/test_ws/build +//Major version of cmake used to create the current loaded cache +CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 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DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__ARMCC_VERSION) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if defined(_MSC_VER) && !defined(__clang__) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/Basics/test_ws/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/Basics/test_ws/build/CMakeFiles/3.10.2/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..11b7df452ad29dfd7bf1d9b188856c9e33182403 GIT binary patch literal 8408 zcmeHMZ;Vt|6~D8?!t!Tl2MTn7M#f4FRCd^=A*#)EvO{L4@?ab`%r1OW& zywQb-l59&d&~1tO0b?|pm>6Tf=!aVUV3zPl<0puTMQsyeKv$)@wH3D&7|*%y{AS;K zJ7|q2e&HrF=ic8v=iKwoJNM4HXTI3o*HaS+D72vZq~g)OS_f&DiEFE*L!@1`sfG0Y zh+3oO(|Df7ocVT#(5%yDL^Wug;6b7+*H+^Ie)@>;fx<$jVw!Mx$rX**^9-;uB|?3eZK=a;b94=RtVHla$^1ZnXF8Wn4p>8JmK@3CvLb0Z ztW_DcJ&t$b;{bV&{fGBlT%DqwQKL4B?TCBC>plsd8QB-W!-Cg^BU%zT#$g}+%>~W^ zjXwOZf=7J#0#Uf$hd(6vwFYNhHiMrB?YaxcGxOY(3+MPkn|9&YGdwrr!rkYJF@CGg zI8%FRQA8OpPTDo)E5`W6x(lkj^-BbmANvY@H>_=^-VdlZd=~4pyxm*6de|ua))>Dr zy>FmzqV@wa+nA^y*JRi4h_Sq4m}K5-Slh)jyS__<1I9${w}=|sXN=NKdlfCcgNL+q z{b2d}aI|6V3wnvc3%u&=nB-H;II(p|tJ!dmETrB6wr7cPX4kK2G*w?Nm!}N+x?KAXjRS1XNjB`=3#5{s zhuH`JFiafWE1kGyl#17X+I@$4j58~~PC{q8ZyD!|z?FvARKrgu1KoEBpSTZxq8iQ$ z;#bIHWm4Mk+Ps>InuFEZ@35JU|6 zW?ncu`+nZNK+nywq@#zu;BA4*sp!Qq>fO_`cSk&zIhsl*^M~lP9K?)6J@e*gllej_ zmp#<%v~5x8Y(=MeP-%&yY0DnYiflue=xMk!#qa%Za{9bRAJXOQZM7<%>iw61_om3q`_43VlBBxdo2zSAnr`V9k;R zb!P($!i@88{Lk)`%b#EdY1R2@9hztUG2+)}TPWNUYW!5g;?LEcR8Otm`S=s-^zqE{ zUGzCZe04<8SoS&k43WJrGZ+hnPt|nR&#x(wMUKqp3BE@2NuKWrg<&dH z=5>VDzf^04norF)LT%#<`a|vcP+Kh291E@Q2t|mG_&Y*%`rKtdDDs2*d}8Q9d*Fcw z9(dq^|Az;V=OM2{P6fI|jB1o*NUlpNA^97wfyf`%2tUqP&a=58kL2@~8|MFZubkuY zIXM)Oa~YDXNxG?Cm-$7^Oznh2)MBBHLRSa{LC!ZRd7YT8W@G|(MC5_xx~QPeS7hRmALZaixl>c7hkNJ5%8{wpjx8ZtK#*Q zI*f~*?#-dfe)QrE>SUEb3sN?MI)ayfsTxI~yC#BkQ^x*w!L;r}m3{5SDchI7W&V1M^$e6Aldq6gUtbNzXa@M`wo@43FG^(<9s99UT3K6-wn=a@82>$qapU^;+_uD`Zu#EhFMB)(JbuHl$R^@APjn9pTorH(g$~p0{ zituGs;=e=VKIJsDM2|n-vV=$Gva1t>FRfXra2|r?G~;S^f6bGLuWEdy^4B}QLpb|k zT7J-y!heZqnBuC<7w03wkGd=FLO&G!{yNJg!dZ`hzg!hPpOJO-9f#KZrRee3S>9uu zp4YF3ucZ;O*-cgx{-_&}{`d8|bI-k2;%C22N<3^9{!WdrR1sg@N5%7Y!7dIDN8@U? zEN0pnGtPyv0u{v)IddeP8?w@7!p`Ljrd1qMd_ztr?PMalt#x}_btW#!rA#ZIw~m>~ zteromhVxb?X(o!9%rO#ijZEUSJ*=Jm*7M2EPPvHpCdfR~?Aagd?>4*lbeUA0^U5TY z+4bz6SbuM)cSe^138I_4*=>jhqier1clYh>i1nF!dwQPk9xw-D9ev%bRTmHAg`&3p zUzZD$3Cp%1GFxwKZ}$`&P3Cfnip1-!Fq(-%&K$L}39df&?j^27Dr*)C$%IN}hjS*% z23UmcVpln{C{xhvP@y18=!&NnPFvZLqBTMe_tqAOoywkYBiBQ#7CF6TRqsP-{ZjmJ zY~fl4RU-<=GPX5D)XqC}6unfI%B@FLG@G-N(O5@slWmR2Xe3*V4i!^W+fF4^lt-gh zVN^vE$Fii)p?2Px!J?W?1}4qrlWB_uR8;#XdNge-{)&#|sADI`=$qq_ICJ{7MU$fv zfujkM$H)ig-H^|LMg#}Jd5Uohb=>mE`#{%$QK(3}~C+C%bu z*MR)%(g8)mmycO~cE}@BIY<~^0U(cj6BPFuV$sd-zr%#`-2(E+OF?l@gZEaE0Ua2FzT%TdehmtHA&)UA=V$Kq@w*JV42}^6SQq-f;giSx8PuP~`JeyW zB9CQG%I_!Wt5`^A#5d-7wjc7y-$0-A@%z{Ru}>cN1kgHG?rQKGpo`SuoLj=Ca-YEe zjDCKML9dW(gG(Ougc&JFfR9*o!x;2ULOJ%Ze&v3`Mp2s-`w^dz!+ZQP@h}VIagUi~ zqo}p(@7XWNgWjYmw|pi4lm(h+MRgByfd51t#;`u}vu2U^^ZQo<$zxZd+PeP9pHKaOwM?v_7GsXn)UpK`40%yQ0HUH&aufbSpf=9m8` D$)0nc literal 0 HcmV?d00001 diff --git a/Basics/test_ws/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/Basics/test_ws/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..2d66298 --- /dev/null +++ b/Basics/test_ws/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,576 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || 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defined(_SGI_COMPILER_VERSION) + /* _SGI_COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10) +# else + /* _COMPILER_VERSION = VRP */ +# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100) +# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10) +# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__sgi) +# define COMPILER_ID "MIPSpro" + +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__sgi) || defined(__sgi__) || defined(_SGI) +# define PLATFORM_ID "IRIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(_MSC_VER) && defined(_MSVC_LANG) +#define CXX_STD _MSVC_LANG +#else +#define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201402L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif 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+turtlesim_generate_messages_eus/fast: + $(MAKE) -f learning_topic/CMakeFiles/turtlesim_generate_messages_eus.dir/build.make learning_topic/CMakeFiles/turtlesim_generate_messages_eus.dir/build +.PHONY : turtlesim_generate_messages_eus/fast + +#============================================================================= +# Target rules for targets named std_srvs_generate_messages_nodejs + +# Build rule for target. +std_srvs_generate_messages_nodejs: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_nodejs +.PHONY : std_srvs_generate_messages_nodejs + +# fast build rule for target. +std_srvs_generate_messages_nodejs/fast: + $(MAKE) -f learning_topic/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build.make learning_topic/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build +.PHONY : std_srvs_generate_messages_nodejs/fast + +#============================================================================= +# Target rules for targets named std_srvs_generate_messages_py + +# Build rule for target. +std_srvs_generate_messages_py: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_py +.PHONY : std_srvs_generate_messages_py + +# fast build rule for target. +std_srvs_generate_messages_py/fast: + $(MAKE) -f learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/build.make learning_topic/CMakeFiles/std_srvs_generate_messages_py.dir/build +.PHONY : std_srvs_generate_messages_py/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install" + @echo "... list_install_components" + @echo "... tests" + @echo "... rebuild_cache" + @echo "... download_extra_data" + @echo "... edit_cache" + @echo "... run_tests" + @echo "... clean_test_results" + @echo "... doxygen" + @echo "... install/local" + @echo "... test" + @echo "... gmock_main" + @echo "... gmock" + @echo "... gtest_main" + @echo "... gtest" + @echo "... roscpp_generate_messages_py" + @echo "... roscpp_generate_messages_eus" + @echo "... roscpp_generate_messages_lisp" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... roscpp_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_nodejs" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... std_msgs_generate_messages_eus" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... roscpp_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... turtlesim_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_py" + @echo "... velocity_publisher" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... turtlesim_generate_messages_py" + @echo "... geometry_msgs_generate_messages_nodejs" + @echo "... turtlesim_generate_messages_lisp" + @echo "... std_srvs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... turtlesim_generate_messages_nodejs" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... std_srvs_generate_messages_eus" + @echo "... std_srvs_generate_messages_lisp" + @echo "... turtlesim_generate_messages_eus" + @echo "... std_srvs_generate_messages_nodejs" + @echo "... std_srvs_generate_messages_py" +.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: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/Basics/test_ws/build/atomic_configure/.rosinstall b/Basics/test_ws/build/atomic_configure/.rosinstall new file mode 100644 index 0000000..e2a4cb9 --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/test_ws/devel/setup.sh diff --git a/Basics/test_ws/build/atomic_configure/_setup_util.py b/Basics/test_ws/build/atomic_configure/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/test_ws/build/atomic_configure/env.sh b/Basics/test_ws/build/atomic_configure/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/test_ws/build/atomic_configure/local_setup.bash b/Basics/test_ws/build/atomic_configure/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/test_ws/build/atomic_configure/local_setup.sh b/Basics/test_ws/build/atomic_configure/local_setup.sh new file mode 100644 index 0000000..87ebe4f --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/test_ws/build/atomic_configure/local_setup.zsh b/Basics/test_ws/build/atomic_configure/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/test_ws/build/atomic_configure/setup.bash b/Basics/test_ws/build/atomic_configure/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/test_ws/build/atomic_configure/setup.sh b/Basics/test_ws/build/atomic_configure/setup.sh new file mode 100644 index 0000000..de08d03 --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/test_ws/build/atomic_configure/setup.zsh b/Basics/test_ws/build/atomic_configure/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/test_ws/build/atomic_configure/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/test_ws/build/catkin/catkin_generated/version/package.cmake b/Basics/test_ws/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..3e52286 --- /dev/null +++ b/Basics/test_ws/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.7.29") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_PACKAGE_FORMAT "3") +set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools") +set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools") +set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy") +set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3") +set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose") +set(catkin_DOC_DEPENDS ) +set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin") +set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues") +set(catkin_URL_REPOSITORY "https://github.com/ros/catkin") +set(catkin_DEPRECATED "") \ No newline at end of file diff --git a/Basics/test_ws/build/catkin_generated/env_cached.sh b/Basics/test_ws/build/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/env_cached.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/Basics/test_ws/build/catkin_generated/generate_cached_setup.py b/Basics/test_ws/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..33446c5 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,30 @@ +# -*- coding: utf-8 -*- +from __future__ import print_function + +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/melodic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/melodic/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in '/opt/ros/melodic'.split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/hazyparker/project/learn_ros/Basics/test_ws/devel/env.sh') + +output_filename = '/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + # print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/Basics/test_ws/build/catkin_generated/installspace/.rosinstall b/Basics/test_ws/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..27a6ab9 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/test_ws/install/setup.sh diff --git a/Basics/test_ws/build/catkin_generated/installspace/_setup_util.py b/Basics/test_ws/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/test_ws/build/catkin_generated/installspace/env.sh b/Basics/test_ws/build/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/test_ws/build/catkin_generated/installspace/local_setup.bash b/Basics/test_ws/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/test_ws/build/catkin_generated/installspace/local_setup.sh b/Basics/test_ws/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..5f84ec3 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/test_ws/build/catkin_generated/installspace/local_setup.zsh b/Basics/test_ws/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/test_ws/build/catkin_generated/installspace/setup.bash b/Basics/test_ws/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/test_ws/build/catkin_generated/installspace/setup.sh b/Basics/test_ws/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..6068e1e --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/test_ws/build/catkin_generated/installspace/setup.zsh b/Basics/test_ws/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/test_ws/build/catkin_generated/order_packages.cmake b/Basics/test_ws/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000..8c62332 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/order_packages.cmake @@ -0,0 +1,18 @@ +# generated from catkin/cmake/em/order_packages.cmake.em + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +list(APPEND CATKIN_ORDERED_PACKAGES "test_pkg") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "test_pkg") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "learning_topic") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "learning_topic") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") + +set(CATKIN_MESSAGE_GENERATORS ) + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/Basics/test_ws/build/catkin_generated/order_packages.py b/Basics/test_ws/build/catkin_generated/order_packages.py new file mode 100644 index 0000000..4d5407f --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/hazyparker/project/learn_ros/Basics/test_ws/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/opt/ros/melodic'.split(';') if '/opt/ros/melodic' != '' else [] diff --git a/Basics/test_ws/build/catkin_generated/setup_cached.sh b/Basics/test_ws/build/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..62eccec --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/setup_cached.sh @@ -0,0 +1,15 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/hazyparker/project/learn_ros/Basics/test_ws/devel:$CMAKE_PREFIX_PATH" +export LD_LIBRARY_PATH="/home/hazyparker/project/learn_ros/Basics/test_ws/devel/lib:$LD_LIBRARY_PATH" +export PKG_CONFIG_PATH="/home/hazyparker/project/learn_ros/Basics/test_ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PWD='/home/hazyparker/project/learn_ros/Basics/test_ws/build' +export ROSLISP_PACKAGE_DIRECTORIES='/home/hazyparker/project/learn_ros/Basics/test_ws/devel/share/common-lisp' +export ROS_PACKAGE_PATH="/home/hazyparker/project/learn_ros/Basics/test_ws/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/Basics/test_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/Basics/test_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/test_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/Basics/test_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,255 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function + +import os +import runpy +import sys +from argparse import ArgumentParser + +setup_modules = [] + +try: + import distutils.core + setup_modules.append(distutils.core) +except ImportError: + pass + +try: + import setuptools + setup_modules.append(setuptools) +except ImportError: + pass + +assert setup_modules, 'Must have distutils or setuptools installed' + + +def _get_locations(pkgs, package_dir): + """ + Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs. + + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = os.path.join(parent_location, splits[key_len]) + else: + locations[key] = os.path.join(allprefix, key) + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None): + """ + Generate lines to add to a cmake file which will set variables. + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :param pkgs: [list of str] python_packages declared in catkin package + :param modules: [list of str] python modules + :param setup_module: str, setuptools or distutils + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + if setup_module: + result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module)) + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if '.' not in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + root_name = splits[0] + root_location = location + for _ in range(len(splits) - 1): + root_location = os.path.dirname(root_location) + if root_location != locations[root_name]: + raise RuntimeError( + 'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [locations[pkg]] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/'))) + + # skip modules which collide with package names + filtered_modules = [] + for modname in modules: + splits = modname.split('.') + # check all parents too + equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))] + if any(equals_package): + continue + filtered_modules.append(modname) + module_locations = _get_locations(filtered_modules, package_dir) + + result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules]))) + result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/'))) + + return result + + +def _create_mock_setup_function(setup_module, package_name, outfile): + """ + Create a function to call instead of distutils.core.setup or setuptools.setup. + + It just captures some args and writes them into a file that can be used from cmake. + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + """Check kwargs and write a scriptfile.""" + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError('version not found in setup.py') + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + modules = kwargs.get('py_modules', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs, + modules=modules, + setup_module=setup_module) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """Script main, parses arguments and invokes Dummy.setup indirectly.""" + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + backup_modules = {} + try: + + for module in setup_modules: + backup_modules[id(module)] = module.setup + module.setup = _create_mock_setup_function( + setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile) + + runpy.run_path(args.setupfile_path) + finally: + for module in setup_modules: + module.setup = backup_modules[id(module)] + + +if __name__ == '__main__': + main() diff --git a/Basics/test_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/Basics/test_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000..7ec7539 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp @@ -0,0 +1,70 @@ +# generated from catkin/cmake/em/order_packages.cmake.em +@{ +import os +try: + from catkin_pkg.cmake import get_metapackage_cmake_template_path +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.topological_order import topological_order +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +try: + from catkin_pkg.package import InvalidPackage +except ImportError as e: + raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e) +# vars defined in order_packages.context.py.in +try: + ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces) +except InvalidPackage as e: + print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"')) + ordered_packages = [] +fatal_error = False +}@ + +set(CATKIN_ORDERED_PACKAGES "") +set(CATKIN_ORDERED_PACKAGE_PATHS "") +set(CATKIN_ORDERED_PACKAGES_IS_META "") +set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") +@[for path, package in ordered_packages]@ +@[if path is None]@ +message(FATAL_ERROR "Circular dependency in subset of packages:\n@package") +@{ +fatal_error = True +}@ +@[elif package.name != 'catkin']@ +list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))") +@{ +package.evaluate_conditions(os.environ) +try: + build_type = package.get_build_type() +except InvalidPackage: + build_type = None +}@ +@[if build_type is None]@ +message(FATAL_ERROR "Only one element is permitted for package '@(package.name)'.") +@{ +fatal_error = True +}@ +@[else]@ +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())") +@[end if]@ +@{ +deprecated = [e for e in package.exports if e.tagname == 'deprecated'] +}@ +@[if deprecated]@ +message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')") +@[end if]@ +@[end if]@ +@[end for]@ + +@[if not fatal_error]@ +@{ +message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]] +}@ +set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators))) +@[end if]@ + +set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))") diff --git a/Basics/test_ws/build/catkin_generated/stamps/Project/package.xml.stamp b/Basics/test_ws/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000..9a1f675 --- /dev/null +++ b/Basics/test_ws/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,48 @@ + + + + catkin + 0.7.29 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://wiki.ros.org/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + python-argparse + python-catkin-pkg + python3-catkin-pkg + python-empy + python3-empy + + cmake + python-setuptools + python3-setuptools + + cmake + python3-setuptools + + google-mock + gtest + python-nose + python3-nose + + python-mock + python3-mock + python-nose + python3-nose + + + + + + diff --git a/Basics/test_ws/build/catkin_make.cache b/Basics/test_ws/build/catkin_make.cache new file mode 100644 index 0000000..4c17dd8 --- /dev/null +++ b/Basics/test_ws/build/catkin_make.cache @@ -0,0 +1,2 @@ +learning_topic:test_pkg +-DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCATKIN_DEVEL_PREFIX=/home/hazyparker/project/learn_ros/Basics/test_ws/devel -DCMAKE_INSTALL_PREFIX=/home/hazyparker/project/learn_ros/Basics/test_ws/install -G Unix Makefiles \ No newline at end of file diff --git a/Basics/test_ws/build/cmake_install.cmake b/Basics/test_ws/build/cmake_install.cmake new file mode 100644 index 0000000..a1d82f8 --- /dev/null +++ b/Basics/test_ws/build/cmake_install.cmake @@ -0,0 +1,148 @@ +# Install script for directory: /home/hazyparker/project/learn_ros/Basics/test_ws/src + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/hazyparker/project/learn_ros/Basics/test_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 "") + 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) + + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}") + endif() + if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin") + file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "") + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/install/_setup_util.py") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/hazyparker/project/learn_ros/Basics/test_ws/install" TYPE PROGRAM FILES "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/_setup_util.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/install/env.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/hazyparker/project/learn_ros/Basics/test_ws/install" TYPE PROGRAM FILES "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/env.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/install/setup.bash;/home/hazyparker/project/learn_ros/Basics/test_ws/install/local_setup.bash") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/hazyparker/project/learn_ros/Basics/test_ws/install" TYPE FILE FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/setup.bash" + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/local_setup.bash" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/install/setup.sh;/home/hazyparker/project/learn_ros/Basics/test_ws/install/local_setup.sh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/hazyparker/project/learn_ros/Basics/test_ws/install" TYPE FILE FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/setup.sh" + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/local_setup.sh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/install/setup.zsh;/home/hazyparker/project/learn_ros/Basics/test_ws/install/local_setup.zsh") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/hazyparker/project/learn_ros/Basics/test_ws/install" TYPE FILE FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/setup.zsh" + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/local_setup.zsh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/install/.rosinstall") + if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION) + message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() + if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION) + message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/hazyparker/project/learn_ros/Basics/test_ws/install" TYPE FILE FILES "/home/hazyparker/project/learn_ros/Basics/test_ws/build/catkin_generated/installspace/.rosinstall") +endif() + +if(NOT 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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(learning_topic_CONFIG_INCLUDED) + return() +endif() +set(learning_topic_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(learning_topic_SOURCE_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/src/learning_topic) + set(learning_topic_DEVEL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/devel) + set(learning_topic_INSTALL_PREFIX "") + set(learning_topic_PREFIX ${learning_topic_DEVEL_PREFIX}) +else() + set(learning_topic_SOURCE_PREFIX "") + set(learning_topic_DEVEL_PREFIX "") + set(learning_topic_INSTALL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/install) + set(learning_topic_PREFIX ${learning_topic_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'learning_topic' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(learning_topic_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(learning_topic_INCLUDE_DIRS "") + set(_include_dirs "") + 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 'hazyparker ' 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 "${learning_topic_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(learning_topic_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 learning_topic_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND learning_topic_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 learning_topic_NUM_DUMMY_TARGETS) + set(learning_topic_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR learning_topic_NUM_DUMMY_TARGETS "${learning_topic_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_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 learning_topic_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND learning_topic_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND learning_topic_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/hazyparker/project/learn_ros/Basics/test_ws/install/lib;/opt/ros/melodic/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(learning_topic_LIBRARY_DIRS ${lib_path}) + list(APPEND learning_topic_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 'learning_topic'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND learning_topic_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(learning_topic_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${learning_topic_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 learning_topic_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${learning_topic_dep}_FOUND) + find_package(${learning_topic_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${learning_topic_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(learning_topic_INCLUDE_DIRS ${${learning_topic_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${learning_topic_dep}_LIBRARIES}) + _list_append_deduplicate(learning_topic_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + + _list_append_unique(learning_topic_LIBRARY_DIRS ${${learning_topic_dep}_LIBRARY_DIRS}) + list(APPEND learning_topic_EXPORTED_TARGETS ${${learning_topic_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${learning_topic_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Basics/test_ws/build/learning_topic/catkin_generated/ordered_paths.cmake b/Basics/test_ws/build/learning_topic/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/Basics/test_ws/build/learning_topic/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/Basics/test_ws/build/learning_topic/catkin_generated/package.cmake b/Basics/test_ws/build/learning_topic/catkin_generated/package.cmake new file mode 100644 index 0000000..40095a3 --- /dev/null +++ b/Basics/test_ws/build/learning_topic/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "learning_topic") +set(learning_topic_VERSION "0.0.0") +set(learning_topic_MAINTAINER "hazyparker ") +set(learning_topic_PACKAGE_FORMAT "2") +set(learning_topic_BUILD_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_BUILD_EXPORT_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_BUILDTOOL_DEPENDS "catkin") +set(learning_topic_BUILDTOOL_EXPORT_DEPENDS ) +set(learning_topic_EXEC_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_RUN_DEPENDS "geometry_msgs" "roscpp" "rospy" "std_msgs" "turtlesim") +set(learning_topic_TEST_DEPENDS ) +set(learning_topic_DOC_DEPENDS ) +set(learning_topic_URL_WEBSITE "") +set(learning_topic_URL_BUGTRACKER "") +set(learning_topic_URL_REPOSITORY "") +set(learning_topic_DEPRECATED "") \ No newline at end of file diff --git a/Basics/test_ws/build/learning_topic/catkin_generated/pkg.develspace.context.pc.py b/Basics/test_ws/build/learning_topic/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..addc4ed --- /dev/null +++ b/Basics/test_ws/build/learning_topic/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "learning_topic" +PROJECT_SPACE_DIR = "/home/hazyparker/project/learn_ros/Basics/test_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/Basics/test_ws/build/learning_topic/catkin_generated/pkg.installspace.context.pc.py b/Basics/test_ws/build/learning_topic/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..c32cf9f --- /dev/null +++ b/Basics/test_ws/build/learning_topic/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "learning_topic" +PROJECT_SPACE_DIR = "/home/hazyparker/project/learn_ros/Basics/test_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/Basics/test_ws/build/learning_topic/catkin_generated/stamps/learning_topic/package.xml.stamp b/Basics/test_ws/build/learning_topic/catkin_generated/stamps/learning_topic/package.xml.stamp new file mode 100644 index 0000000..678469c --- /dev/null +++ b/Basics/test_ws/build/learning_topic/catkin_generated/stamps/learning_topic/package.xml.stamp @@ -0,0 +1,74 @@ + + + learning_topic + 0.0.0 + The learning_topic package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + + + + + + + diff --git a/Basics/test_ws/build/learning_topic/catkin_generated/stamps/learning_topic/pkg.pc.em.stamp b/Basics/test_ws/build/learning_topic/catkin_generated/stamps/learning_topic/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/Basics/test_ws/build/learning_topic/catkin_generated/stamps/learning_topic/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/Basics/test_ws/build/learning_topic/cmake_install.cmake b/Basics/test_ws/build/learning_topic/cmake_install.cmake new file mode 100644 index 0000000..48d614f --- /dev/null +++ b/Basics/test_ws/build/learning_topic/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/hazyparker/project/learn_ros/Basics/test_ws/src/learning_topic + +# Set the install prefix 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+std_msgs_generate_messages_py/fast: + cd /home/hazyparker/project/learn_ros/Basics/test_ws/build && $(MAKE) -f test_pkg/CMakeFiles/std_msgs_generate_messages_py.dir/build.make test_pkg/CMakeFiles/std_msgs_generate_messages_py.dir/build +.PHONY : std_msgs_generate_messages_py/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install/local" + @echo "... rebuild_cache" + @echo "... list_install_components" + @echo "... roscpp_generate_messages_py" + @echo "... roscpp_generate_messages_eus" + @echo "... edit_cache" + @echo "... roscpp_generate_messages_lisp" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... roscpp_generate_messages_cpp" + @echo "... install" + @echo "... rosgraph_msgs_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_nodejs" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... std_msgs_generate_messages_eus" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... roscpp_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... test" +.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/hazyparker/project/learn_ros/Basics/test_ws/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkg.pc b/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkg.pc new file mode 100644 index 0000000..6e11b9a --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkg.pc @@ -0,0 +1,8 @@ +prefix=/home/hazyparker/project/learn_ros/Basics/test_ws/install + +Name: test_pkg +Description: Description of test_pkg +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig-version.cmake b/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig.cmake b/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig.cmake new file mode 100644 index 0000000..f8fdc0b --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig.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(test_pkg_CONFIG_INCLUDED) + return() +endif() +set(test_pkg_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(test_pkg_SOURCE_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/src/test_pkg) + set(test_pkg_DEVEL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/devel) + set(test_pkg_INSTALL_PREFIX "") + set(test_pkg_PREFIX ${test_pkg_DEVEL_PREFIX}) +else() + set(test_pkg_SOURCE_PREFIX "") + set(test_pkg_DEVEL_PREFIX "") + set(test_pkg_INSTALL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/install) + set(test_pkg_PREFIX ${test_pkg_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'test_pkg' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(test_pkg_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(test_pkg_INCLUDE_DIRS "") + set(_include_dirs "") + 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 'hazyparker ' 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 "${test_pkg_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'test_pkg' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'test_pkg' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") + endif() + _list_append_unique(test_pkg_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 test_pkg_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND test_pkg_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 test_pkg_NUM_DUMMY_TARGETS) + set(test_pkg_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::test_pkg::wrapped-linker-option${test_pkg_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR test_pkg_NUM_DUMMY_TARGETS "${test_pkg_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::test_pkg::wrapped-linker-option${test_pkg_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 test_pkg_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND test_pkg_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND test_pkg_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/hazyparker/project/learn_ros/Basics/test_ws/install/lib;/opt/ros/melodic/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(test_pkg_LIBRARY_DIRS ${lib_path}) + list(APPEND test_pkg_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 'test_pkg'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND test_pkg_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(test_pkg_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${test_pkg_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 test_pkg_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${test_pkg_dep}_FOUND) + find_package(${test_pkg_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${test_pkg_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(test_pkg_INCLUDE_DIRS ${${test_pkg_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(test_pkg_LIBRARIES ${test_pkg_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${test_pkg_dep}_LIBRARIES}) + _list_append_deduplicate(test_pkg_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(test_pkg_LIBRARIES ${test_pkg_LIBRARIES}) + + _list_append_unique(test_pkg_LIBRARY_DIRS ${${test_pkg_dep}_LIBRARY_DIRS}) + list(APPEND test_pkg_EXPORTED_TARGETS ${${test_pkg_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${test_pkg_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/ordered_paths.cmake b/Basics/test_ws/build/test_pkg/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..88ba1d8 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/melodic/lib") \ No newline at end of file diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/package.cmake b/Basics/test_ws/build/test_pkg/catkin_generated/package.cmake new file mode 100644 index 0000000..0ba59e6 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "test_pkg") +set(test_pkg_VERSION "0.0.0") +set(test_pkg_MAINTAINER "hazyparker ") +set(test_pkg_PACKAGE_FORMAT "2") +set(test_pkg_BUILD_DEPENDS "roscpp" "rospy" "std_msgs") +set(test_pkg_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs") +set(test_pkg_BUILDTOOL_DEPENDS "catkin") +set(test_pkg_BUILDTOOL_EXPORT_DEPENDS ) +set(test_pkg_EXEC_DEPENDS "roscpp" "rospy" "std_msgs") +set(test_pkg_RUN_DEPENDS "roscpp" "rospy" "std_msgs") +set(test_pkg_TEST_DEPENDS ) +set(test_pkg_DOC_DEPENDS ) +set(test_pkg_URL_WEBSITE "") +set(test_pkg_URL_BUGTRACKER "") +set(test_pkg_URL_REPOSITORY "") +set(test_pkg_DEPRECATED "") \ No newline at end of file diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/pkg.develspace.context.pc.py b/Basics/test_ws/build/test_pkg/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..d88b701 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "test_pkg" +PROJECT_SPACE_DIR = "/home/hazyparker/project/learn_ros/Basics/test_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/pkg.installspace.context.pc.py b/Basics/test_ws/build/test_pkg/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..03f0dd6 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "test_pkg" +PROJECT_SPACE_DIR = "/home/hazyparker/project/learn_ros/Basics/test_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/stamps/test_pkg/package.xml.stamp b/Basics/test_ws/build/test_pkg/catkin_generated/stamps/test_pkg/package.xml.stamp new file mode 100644 index 0000000..c180128 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/stamps/test_pkg/package.xml.stamp @@ -0,0 +1,68 @@ + + + test_pkg + 0.0.0 + The test_pkg package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/Basics/test_ws/build/test_pkg/catkin_generated/stamps/test_pkg/pkg.pc.em.stamp b/Basics/test_ws/build/test_pkg/catkin_generated/stamps/test_pkg/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/Basics/test_ws/build/test_pkg/catkin_generated/stamps/test_pkg/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/Basics/test_ws/build/test_pkg/cmake_install.cmake b/Basics/test_ws/build/test_pkg/cmake_install.cmake new file mode 100644 index 0000000..5858d9b --- /dev/null +++ b/Basics/test_ws/build/test_pkg/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/hazyparker/project/learn_ros/Basics/test_ws/src/test_pkg + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/hazyparker/project/learn_ros/Basics/test_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 "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${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}/lib/pkgconfig" TYPE FILE FILES "/home/hazyparker/project/learn_ros/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkg.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/test_pkg/cmake" TYPE FILE FILES + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig.cmake" + "/home/hazyparker/project/learn_ros/Basics/test_ws/build/test_pkg/catkin_generated/installspace/test_pkgConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/test_pkg" TYPE FILE FILES "/home/hazyparker/project/learn_ros/Basics/test_ws/src/test_pkg/package.xml") +endif() + diff --git a/Basics/test_ws/devel/.built_by b/Basics/test_ws/devel/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/Basics/test_ws/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/Basics/test_ws/devel/.catkin b/Basics/test_ws/devel/.catkin new file mode 100644 index 0000000..aec7ae5 --- /dev/null +++ b/Basics/test_ws/devel/.catkin @@ -0,0 +1 @@ +/home/hazyparker/project/learn_ros/Basics/test_ws/src \ No newline at end of file diff --git a/Basics/test_ws/devel/.rosinstall b/Basics/test_ws/devel/.rosinstall new file mode 100644 index 0000000..e2a4cb9 --- /dev/null +++ b/Basics/test_ws/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/test_ws/devel/setup.sh diff --git a/Basics/test_ws/devel/_setup_util.py b/Basics/test_ws/devel/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/test_ws/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/test_ws/devel/cmake.lock b/Basics/test_ws/devel/cmake.lock new file mode 100644 index 0000000..e69de29 diff --git a/Basics/test_ws/devel/env.sh b/Basics/test_ws/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/test_ws/devel/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. 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"$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/test_ws/devel/local_setup.sh b/Basics/test_ws/devel/local_setup.sh new file mode 100644 index 0000000..87ebe4f --- /dev/null +++ b/Basics/test_ws/devel/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/test_ws/devel/local_setup.zsh b/Basics/test_ws/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/test_ws/devel/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/test_ws/devel/setup.bash b/Basics/test_ws/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/test_ws/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/test_ws/devel/setup.sh b/Basics/test_ws/devel/setup.sh new file mode 100644 index 0000000..de08d03 --- /dev/null +++ b/Basics/test_ws/devel/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/test_ws/devel/setup.zsh b/Basics/test_ws/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/test_ws/devel/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/test_ws/devel/share/learning_topic/cmake/learning_topicConfig-version.cmake b/Basics/test_ws/devel/share/learning_topic/cmake/learning_topicConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/Basics/test_ws/devel/share/learning_topic/cmake/learning_topicConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/Basics/test_ws/devel/share/learning_topic/cmake/learning_topicConfig.cmake b/Basics/test_ws/devel/share/learning_topic/cmake/learning_topicConfig.cmake new file mode 100644 index 0000000..02aef66 --- /dev/null +++ b/Basics/test_ws/devel/share/learning_topic/cmake/learning_topicConfig.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(learning_topic_CONFIG_INCLUDED) + return() +endif() +set(learning_topic_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(learning_topic_SOURCE_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/src/learning_topic) + set(learning_topic_DEVEL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/devel) + set(learning_topic_INSTALL_PREFIX "") + set(learning_topic_PREFIX ${learning_topic_DEVEL_PREFIX}) +else() + set(learning_topic_SOURCE_PREFIX "") + set(learning_topic_DEVEL_PREFIX "") + set(learning_topic_INSTALL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/install) + set(learning_topic_PREFIX ${learning_topic_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'learning_topic' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(learning_topic_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(learning_topic_INCLUDE_DIRS "") + set(_include_dirs "") + 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 'hazyparker ' 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 "${learning_topic_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'learning_topic' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/hazyparker/project/learn_ros/Basics/test_ws/src/learning_topic/${idir}'. ${_report}") + endif() + _list_append_unique(learning_topic_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 learning_topic_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND learning_topic_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 learning_topic_NUM_DUMMY_TARGETS) + set(learning_topic_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR learning_topic_NUM_DUMMY_TARGETS "${learning_topic_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::learning_topic::wrapped-linker-option${learning_topic_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 learning_topic_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND learning_topic_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND learning_topic_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/hazyparker/project/learn_ros/Basics/test_ws/devel/lib;/opt/ros/melodic/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(learning_topic_LIBRARY_DIRS ${lib_path}) + list(APPEND learning_topic_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 'learning_topic'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND learning_topic_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(learning_topic_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${learning_topic_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 learning_topic_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${learning_topic_dep}_FOUND) + find_package(${learning_topic_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${learning_topic_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(learning_topic_INCLUDE_DIRS ${${learning_topic_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${learning_topic_dep}_LIBRARIES}) + _list_append_deduplicate(learning_topic_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(learning_topic_LIBRARIES ${learning_topic_LIBRARIES}) + + _list_append_unique(learning_topic_LIBRARY_DIRS ${${learning_topic_dep}_LIBRARY_DIRS}) + list(APPEND learning_topic_EXPORTED_TARGETS ${${learning_topic_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${learning_topic_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Basics/test_ws/devel/share/test_pkg/cmake/test_pkgConfig-version.cmake b/Basics/test_ws/devel/share/test_pkg/cmake/test_pkgConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/Basics/test_ws/devel/share/test_pkg/cmake/test_pkgConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/Basics/test_ws/devel/share/test_pkg/cmake/test_pkgConfig.cmake b/Basics/test_ws/devel/share/test_pkg/cmake/test_pkgConfig.cmake new file mode 100644 index 0000000..ac49799 --- /dev/null +++ b/Basics/test_ws/devel/share/test_pkg/cmake/test_pkgConfig.cmake @@ -0,0 +1,223 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${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(test_pkg_CONFIG_INCLUDED) + return() +endif() +set(test_pkg_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(test_pkg_SOURCE_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/src/test_pkg) + set(test_pkg_DEVEL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/devel) + set(test_pkg_INSTALL_PREFIX "") + set(test_pkg_PREFIX ${test_pkg_DEVEL_PREFIX}) +else() + set(test_pkg_SOURCE_PREFIX "") + set(test_pkg_DEVEL_PREFIX "") + set(test_pkg_INSTALL_PREFIX /home/hazyparker/project/learn_ros/Basics/test_ws/install) + set(test_pkg_PREFIX ${test_pkg_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'test_pkg' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(test_pkg_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(test_pkg_INCLUDE_DIRS "") + set(_include_dirs "") + 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 'hazyparker ' 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 "${test_pkg_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'test_pkg' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'test_pkg' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/hazyparker/project/learn_ros/Basics/test_ws/src/test_pkg/${idir}'. ${_report}") + endif() + _list_append_unique(test_pkg_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 test_pkg_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND test_pkg_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 test_pkg_NUM_DUMMY_TARGETS) + set(test_pkg_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::test_pkg::wrapped-linker-option${test_pkg_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR test_pkg_NUM_DUMMY_TARGETS "${test_pkg_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::test_pkg::wrapped-linker-option${test_pkg_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 test_pkg_LIBRARIES "${interface_target_name}") + elseif(TARGET ${library}) + list(APPEND test_pkg_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND test_pkg_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/hazyparker/project/learn_ros/Basics/test_ws/devel/lib;/opt/ros/melodic/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(test_pkg_LIBRARY_DIRS ${lib_path}) + list(APPEND test_pkg_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 'test_pkg'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND test_pkg_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(test_pkg_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${test_pkg_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 test_pkg_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${test_pkg_dep}_FOUND) + find_package(${test_pkg_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${test_pkg_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(test_pkg_INCLUDE_DIRS ${${test_pkg_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(test_pkg_LIBRARIES ${test_pkg_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${test_pkg_dep}_LIBRARIES}) + _list_append_deduplicate(test_pkg_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(test_pkg_LIBRARIES ${test_pkg_LIBRARIES}) + + _list_append_unique(test_pkg_LIBRARY_DIRS ${${test_pkg_dep}_LIBRARY_DIRS}) + list(APPEND test_pkg_EXPORTED_TARGETS ${${test_pkg_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${test_pkg_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/Basics/test_ws/install/.catkin b/Basics/test_ws/install/.catkin new file mode 100644 index 0000000..e69de29 diff --git a/Basics/test_ws/install/.rosinstall b/Basics/test_ws/install/.rosinstall new file mode 100644 index 0000000..27a6ab9 --- /dev/null +++ b/Basics/test_ws/install/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/hazyparker/project/learn_ros/Basics/test_ws/install/setup.sh diff --git a/Basics/test_ws/install/_setup_util.py b/Basics/test_ws/install/_setup_util.py new file mode 100755 index 0000000..bd65cbd --- /dev/null +++ b/Basics/test_ws/install/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python2 +# -*- coding: utf-8 -*- + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" + +from __future__ import print_function + +import argparse +import copy +import errno +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +PATH_TO_ADD_SUFFIX = ['bin'] +if IS_WINDOWS: + # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib + # since Windows finds dll's via the PATH variable, prepend it with path to lib + PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], + 'PATH': PATH_TO_ADD_SUFFIX, + 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + """ + Generate shell code to reset environment variables. + + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + """ + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolders = env_var_subfolders[key] + if not isinstance(subfolders, list): + subfolders = [subfolders] + value = _rollback_env_variable(unmodified_environ, key, subfolders) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolders): + """ + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolders: list of str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + """ + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + for subfolder in subfolders: + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): + """ + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + """ + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + """Generate shell code to prepend environment variables for the all workspaces.""" + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolders): + """ + Return the prefix to prepend to the environment variable NAME. + + Adding any path in NEW_PATHS_STR without creating duplicate or empty items. + """ + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if not isinstance(subfolders, list): + subfolders = [subfolders] + for subfolder in subfolders: + path_tmp = path + if subfolder: + path_tmp = os.path.join(path_tmp, subfolder) + # skip nonexistent paths + if not os.path.exists(path_tmp): + continue + # exclude any path already in env and any path we already added + if path_tmp not in environ_paths and path_tmp not in checked_paths: + checked_paths.append(path_tmp) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + """Generate shell code with found environment hooks for the all workspaces.""" + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + sys.exit(1) + + if not args.local: + # environment at generation time + CMAKE_PREFIX_PATH = r'/opt/ros/melodic'.split(';') + else: + # don't consider any other prefix path than this one + CMAKE_PREFIX_PATH = [] + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent + # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison + if os.path.sep != '/': + base_path = base_path.replace(os.path.sep, '/') + + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + + # need to explicitly flush the output + sys.stdout.flush() + except IOError as e: + # and catch potential "broken pipe" if stdout is not writable + # which can happen when piping the output to a file but the disk is full + if e.errno == errno.EPIPE: + print(e, file=sys.stderr) + sys.exit(2) + raise + + sys.exit(0) diff --git a/Basics/test_ws/install/env.sh b/Basics/test_ws/install/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/Basics/test_ws/install/env.sh @@ -0,0 +1,16 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# ensure to not use different shell type which was set before +CATKIN_SHELL=sh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/Basics/test_ws/install/local_setup.bash b/Basics/test_ws/install/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/Basics/test_ws/install/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Basics/test_ws/install/local_setup.sh b/Basics/test_ws/install/local_setup.sh new file mode 100644 index 0000000..5f84ec3 --- /dev/null +++ b/Basics/test_ws/install/local_setup.sh @@ -0,0 +1,9 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/local_setup.sh.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/Basics/test_ws/install/local_setup.zsh b/Basics/test_ws/install/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/Basics/test_ws/install/local_setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/local_setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Basics/test_ws/install/setup.bash b/Basics/test_ws/install/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/Basics/test_ws/install/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Basics/test_ws/install/setup.sh b/Basics/test_ws/install/setup.sh new file mode 100644 index 0000000..6068e1e --- /dev/null +++ b/Basics/test_ws/install/setup.sh @@ -0,0 +1,96 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file +# --local: only considers this workspace but not the chained ones +# In plain sh shell which doesn't support arguments for sourced scripts you can +# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/hazyparker/project/learn_ros/Basics/test_ws/install} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if [ -d "${TMPDIR:-}" ]; then + _TMPDIR="${TMPDIR}" +else + _TMPDIR=/tmp +fi +_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` +unset _TMPDIR +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" +_RC=$? +if [ $_RC -ne 0 ]; then + if [ $_RC -eq 2 ]; then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" + fi + unset _RC + unset _SETUP_UTIL + rm -f "$_SETUP_TMP" + unset _SETUP_TMP + return 1 +fi +unset _RC +unset _SETUP_UTIL +. "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Basics/test_ws/install/setup.zsh b/Basics/test_ws/install/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/Basics/test_ws/install/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) +emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Basics/test_ws/src/CMakeLists.txt b/Basics/test_ws/src/CMakeLists.txt new file mode 120000 index 0000000..66dd650 --- /dev/null +++ b/Basics/test_ws/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/Basics/test_ws/src/learning_topic/CMakeLists.txt b/Basics/test_ws/src/learning_topic/CMakeLists.txt new file mode 100644 index 0000000..3dd0e5c --- /dev/null +++ b/Basics/test_ws/src/learning_topic/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_topic) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_topic +# CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_topic.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_topic_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(velocity_publisher src/velocity_publisher.cpp) +target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_topic.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/test_ws/src/learning_topic/package.xml b/Basics/test_ws/src/learning_topic/package.xml new file mode 100644 index 0000000..678469c --- /dev/null +++ b/Basics/test_ws/src/learning_topic/package.xml @@ -0,0 +1,74 @@ + + + learning_topic + 0.0.0 + The learning_topic package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + + + + + + + diff --git a/Basics/test_ws/src/learning_topic/src/velocity_publisher.cpp b/Basics/test_ws/src/learning_topic/src/velocity_publisher.cpp new file mode 100644 index 0000000..212f89a --- /dev/null +++ b/Basics/test_ws/src/learning_topic/src/velocity_publisher.cpp @@ -0,0 +1,48 @@ +/** + * @file velocity_publisher.cpp + * @author hazyparker(jaimefriedhemlzhao@gmail.com) + * @brief publish turtle1/cmd_vel topic, type geometry::Twist + * @version 0.1 + * @date 2021-12-29 + * + * @copyright Copyright (c) 2021 + * + */ + +#include +#include + + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "velocity_publisher"); + + // create node + ros::NodeHandle n; + + // create a publisher + ros::Publisher turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); + + // set loop rate + ros::Rate loop_rate(10); + + int count = 0; + while(ros::ok()){ + // init msg Twist + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + + // publish message + turtle_vel_pub.publish(vel_msg); + ROS_INFO("publish turtle velocity command[%0.2f m/s, %0.2f rad/s]", + vel_msg.linear.x, vel_msg.angular.z); + + // set delay + loop_rate.sleep(); + + + } + + return 0; +} diff --git a/Basics/test_ws/src/test_pkg/CMakeLists.txt b/Basics/test_ws/src/test_pkg/CMakeLists.txt new file mode 100644 index 0000000..1bac6e1 --- /dev/null +++ b/Basics/test_ws/src/test_pkg/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(test_pkg) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES test_pkg +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/test_pkg.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/test_pkg_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_test_pkg.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/test_ws/src/test_pkg/package.xml b/Basics/test_ws/src/test_pkg/package.xml new file mode 100644 index 0000000..c180128 --- /dev/null +++ b/Basics/test_ws/src/test_pkg/package.xml @@ -0,0 +1,68 @@ + + + test_pkg + 0.0.0 + The test_pkg package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + -- Gitee From bbda703e62ec2596a8c1ca7954f8feec19ae4d9f Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Fri, 31 Dec 2021 11:44:21 +0800 Subject: [PATCH 02/11] add clion version --- .../src/learning_topic/CMakeLists.txt | 211 ++++++++++++++++++ .../test2_ws/src/learning_topic/package.xml | 74 ++++++ .../learning_topic/src/velocity_publisher.cpp | 38 ++++ .../lib/learning_topic/velocity_publisher | Bin 9856 -> 96792 bytes 4 files changed, 323 insertions(+) create mode 100644 Basics/test2_ws/src/learning_topic/CMakeLists.txt create mode 100644 Basics/test2_ws/src/learning_topic/package.xml create mode 100644 Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp diff --git a/Basics/test2_ws/src/learning_topic/CMakeLists.txt b/Basics/test2_ws/src/learning_topic/CMakeLists.txt new file mode 100644 index 0000000..0daa8d7 --- /dev/null +++ b/Basics/test2_ws/src/learning_topic/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_topic) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_topic +# CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_topic.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_topic_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) +add_executable(velocity_publisher src/velocity_publisher.cpp) +target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_topic.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/test2_ws/src/learning_topic/package.xml b/Basics/test2_ws/src/learning_topic/package.xml new file mode 100644 index 0000000..678469c --- /dev/null +++ b/Basics/test2_ws/src/learning_topic/package.xml @@ -0,0 +1,74 @@ + + + learning_topic + 0.0.0 + The learning_topic package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + + + + + + + diff --git a/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp b/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp new file mode 100644 index 0000000..92fea98 --- /dev/null +++ b/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp @@ -0,0 +1,38 @@ +// +// Created by hazyparker on 2021/12/31. +// + +#include +#include + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "velocity_publisher"); + + // create node + ros::NodeHandle n; + + // create a publisher + ros::Publisher turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); + + // set loop rate + ros::Rate loop_rate(10); + + int count = 0; + while(ros::ok()){ + // init msg Twist + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + + // publish message + turtle_vel_pub.publish(vel_msg); + ROS_INFO("publish turtle velocity command[%0.2f m/s, %0.2f rad/s]", + vel_msg.linear.x, vel_msg.angular.z); + + // set delay + loop_rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/Basics/test_ws/devel/lib/learning_topic/velocity_publisher b/Basics/test_ws/devel/lib/learning_topic/velocity_publisher index f464ced36a5a3c933bc3c645d6e48a4a12e579b4..8752871e9a32fc3a292658fa415dea6f94993728 100755 GIT binary patch literal 96792 zcmeFa3tUvy7C(M?DLz3{v$7mbP0bJx5MK%E=%A=1YL?nK!0<3$!Qi8`G#^(&icHJ2 zYu4>yS!t$4WrdH#yjE0J-fj88qwG|Nr~^jvm(8-?h%# zYp=cb^PHKv$(lSiFd!gE<0DABTnoVUoLeN2!1#+yt|vqi)FLhvUBXIN z>B=Ra%oF#W6yjRflM+{S4%@G&Dj$`N&Z*2d(=k$=rYOnMk@Bf4gRX=BDUwa-a<)%V 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zQ`YBuKU0oBK}05Z``rwbVmqwQ@d2h+Dn0g}<(S?IKE;Z-%y9&!ZAzc~CmHr%!D25m z)F-UZ@dlt`LG$}oM%rJr+9Im-UBK9`w(*QL*K6Q+N2bvW0{_P*!R=kLf&Ic~`E z?)QIO>2v?_cX6g6R#cSzX830=eZF5Yb?dw9f7YeXaUG_b>;2vJAB8?n@p2A<)?>dYoYrx}7 ztY7a0k!O7;<+0}!ZBz9RDFBhtU@cKdHn|*ic|5OP)zzdIJa=k1&e;WM_D!_h@ I1*g&f7b9^VK>z>% -- Gitee From cd2f48309ecb0a3776fc50925ad743c17e0667b8 Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Sat, 1 Jan 2022 18:45:41 +0800 Subject: [PATCH 03/11] add pose_subscriber.cpp --- Basics/ROS_basic.md | 171 +++++++++++++++++- .../src/learning_topic/CMakeLists.txt | 2 + .../learning_topic/src/pose_subscriber.cpp | 30 +++ 3 files changed, 201 insertions(+), 2 deletions(-) create mode 100644 Basics/test2_ws/src/learning_topic/src/pose_subscriber.cpp diff --git a/Basics/ROS_basic.md b/Basics/ROS_basic.md index 1c1ad8b..fa62c15 100644 --- a/Basics/ROS_basic.md +++ b/Basics/ROS_basic.md @@ -169,7 +169,9 @@ $ source ~/workspace/devel/setup/bash * 创建消息数据； * 按照一定频率循环发布消息； -### 1. VS Code+ROS配置 +![publisher](images/publisher.png) + +### 1. VS Code + ROS配置 参考：[VScode配置ROS开发环境](https://blog.csdn.net/qq_31918901/article/details/111474875?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1.pc_relevant_paycolumn_v2&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-1.pc_relevant_paycolumn_v2&utm_relevant_index=1) @@ -224,6 +226,171 @@ $ catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1 **`tasks.json`** - +```json +{ + "version": "2.0.0", + "tasks": [ + { + "label": "catkin_make", //代表提示的描述性信息 + "type": "shell", //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行 + "command": "catkin_make",//这个是我们需要运行的命令 + "args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2” + "group": {"kind":"build","isDefault":true}, + "presentation": { + "reveal": "always"//可选always或者silence，代表是否输出信息 + }, + "problemMatcher": "$msCompile" + }, + ] +} +``` **`launch.json`** + +### 2. Clion + ROS配置 + +既然都是CMake，也可以用直接支持CMake的Clion作为IDE + +经过很久解决了Clion的bug之后发现，clion的配置似乎要更加快捷一点； + +一定要以官网的教程为参考！！！[jetbrains ros-setup-tutorial](https://www.jetbrains.com/help/clion/ros-setup-tutorial.html#set-build-paths) + +其中两个最核心的步骤 + +* 让clion拥有ros workspace的环境变量 +* 更改CMake options + +其中第一步，需要先更新环境变量，并且在同一个窗口中启动clion（直接点图标启动另有方法） + +```shell +$ source devel/setup.bash +$ sh clion.sh +``` + +如果找不到clion.sh的位置，可以查找 + +```shell +$ locate clion.sh +``` + +由于我是snap安装的，直接打开snap的文件发现文件夹为空，ctrl+H也没用，所以只能这么找；大致如下： + +```shell +$ sh /snap/clion/178/bin/clion.sh +``` + +第二步，注意看官网的教程，选择一个CMakeList打开，且必须是功能包下的，不能是src下的CMakeList + +- In **Build directory**, set **/build**. + +这一步，我的会报错的，因为build已经作为src的dir了 + +- In **CMake options**, add `-DCATKIN_DEVEL_PREFIX:PATH=/devel`. + +切记，路经里没有`<>`符号 + +至此，配置完成，看起来比VS Code要简单一些。 + +**ERROR! Recording** + +再次打开的时候 + +```shell +$ source /devel/setup.bash +$ sh /bin/clion.sh +``` + +出现了python兼容版本的错误：`safe_execute_process.cmake:11`，网上的解释为https://www.codeleading.com/article/14894317433/ + +``` +ImportError: No module named catkin.environment_cache +CMake Error at /opt/ros/melodic/share/catkin/cmake/safe_execute_process.cmake:11 (message): + execute_process(/usr/bin/python2 + "/home/hazyparker/project/learn_ros/Basics/test2_ws/src/learning_topic/build/catkin_generated/generate_cached_setup.py") + returned error code 1 +``` + +我电脑默认的python版本确实不是ROS默认的2.7（我调成了3.6.9，忘了什么地方默认的2.7不行，于是我就更改了默认的python版本），但我首先没有去更改这个python版本，而是采用了下面这种解法：https://blog.csdn.net/qq_45616304/article/details/108992661，即 + +```shell +$ source /opt/ros/melodic/setup.bash +$ sh /bin/clion.sh +``` + +你会发现和上面CSDN那个博主的方法不太一样，少了一步，但是问题解决了 + +### 3. make运行 + +先写在clion配置好的情况下运行的方法 + +* Edit Configurations，改为executable的程序 +* rosrun + node +* 切换到根目录，`source devel/setup.bash` +* rosrun + pkg + exe + +```cpp +// init ros node + ros::init(argc, argv, "velocity_publisher"); + + // create node + ros::NodeHandle n; + + // create a publisher + ros::Publisher turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); + + // set loop rate + ros::Rate loop_rate(10); + + int count = 0; + while(ros::ok()){ + // init msg Twist + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + + // publish message + turtle_vel_pub.publish(vel_msg); + ROS_INFO("publish turtle velocity command[%0.2f m/s, %0.2f rad/s]", + vel_msg.linear.x, vel_msg.angular.z); + + // set delay + loop_rate.sleep(); + } +``` + +## 订阅者的编程实现 + +有点像中断，一旦有subscriber订阅的消息进来，就进入到回调函数作处理 + +* 初始化ROS节点 +* 订阅需要的话题 +* 循环等待话题消息，接收到消息后进入回调函数 +* 在回调函数中完成消息处理 + +```cpp +void poseCallback(const turtlesim::Pose::ConstPtr& msg){ + // print message received + ROS_INFO("Turtle Pose: x: %0.6f, y: %0.6f", msg->x, msg->y); +} + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "pose_subscriber"); + + // create node handle + ros::NodeHandle n; + + // create a subscriber + // subscribe topic whose name is /turtle1/pose + // write callback function + ros::Subscriber pose_sub = n.subscribe("/turtle/pose", 10, poseCallback); + + // looping, wait for callback getting data + ros::spin(); + + return 0; +} +``` + +`spin()`是一个等待数据传来之后才进入回调函数，回调函数在subscriber里已经注册过了。 + diff --git a/Basics/test2_ws/src/learning_topic/CMakeLists.txt b/Basics/test2_ws/src/learning_topic/CMakeLists.txt index 0daa8d7..8e57ecb 100644 --- a/Basics/test2_ws/src/learning_topic/CMakeLists.txt +++ b/Basics/test2_ws/src/learning_topic/CMakeLists.txt @@ -154,6 +154,8 @@ include_directories( add_executable(velocity_publisher src/velocity_publisher.cpp) target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) +add_executable(pose_subscriber src/pose_subscriber.cpp) +target_link_libraries(pose_subscriber ${catkin_LIBRARIES}) ############# ## Install ## diff --git a/Basics/test2_ws/src/learning_topic/src/pose_subscriber.cpp b/Basics/test2_ws/src/learning_topic/src/pose_subscriber.cpp new file mode 100644 index 0000000..614ab36 --- /dev/null +++ b/Basics/test2_ws/src/learning_topic/src/pose_subscriber.cpp @@ -0,0 +1,30 @@ +// +// Created by hazyparker on 2021/12/31. +// + +#include +#include "turtlesim/Pose.h" + +void poseCallback(const turtlesim::Pose::ConstPtr& msg){ + // print message received + ROS_INFO("Turtle Pose: x: %0.6f, y: %0.6f", msg->x, msg->y); +} + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "pose_subscriber"); + + // create node handle + ros::NodeHandle n; + + // create a subscriber + // subscribe topic whose name is /turtle1/pose + // write callback function + ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback); + + // looping, wait for callback getting data + ros::spin(); + + return 0; +} + -- Gitee From f3a469b84e3e550d8c5dbb1681d9ef54a8a18ac4 Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Mon, 3 Jan 2022 17:13:22 +0800 Subject: [PATCH 04/11] add person_publisher.cpp and person_subscriber.cpp --- Basics/ROS_basic.md | 202 +++++++++++++++++- Basics/images/person_info.png | Bin 0 -> 106768 bytes Basics/images/publisher.png | Bin 0 -> 10620 bytes .../src/learning_topic/CMakeLists.txt | 20 +- .../learning_topic/src/person_publisher.cpp | 44 ++++ .../learning_topic/src/person_subscriber.cpp | 32 +++ .../learning_topic/src/velocity_publisher.cpp | 1 - 7 files changed, 293 insertions(+), 6 deletions(-) create mode 100644 Basics/images/person_info.png create mode 100644 Basics/images/publisher.png create mode 100644 Basics/test2_ws/src/learning_topic/src/person_publisher.cpp create mode 100644 Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp diff --git a/Basics/ROS_basic.md b/Basics/ROS_basic.md index fa62c15..e491a53 100644 --- a/Basics/ROS_basic.md +++ b/Basics/ROS_basic.md @@ -360,13 +360,16 @@ $ sh /bin/clion.sh ## 订阅者的编程实现 -有点像中断，一旦有subscriber订阅的消息进来，就进入到回调函数作处理 - * 初始化ROS节点 * 订阅需要的话题 * 循环等待话题消息，接收到消息后进入回调函数 * 在回调函数中完成消息处理 +例子：订阅海龟的位姿信息 + +* 话题：/turtle1/pose +* 消息类型： turtlesim::Pose + ```cpp void poseCallback(const turtlesim::Pose::ConstPtr& msg){ // print message received @@ -383,7 +386,7 @@ int main(int argc, char **argv){ // create a subscriber // subscribe topic whose name is /turtle1/pose // write callback function - ros::Subscriber pose_sub = n.subscribe("/turtle/pose", 10, poseCallback); + ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback); // looping, wait for callback getting data ros::spin(); @@ -392,5 +395,196 @@ int main(int argc, char **argv){ } ``` -`spin()`是一个等待数据传来之后才进入回调函数，回调函数在subscriber里已经注册过了。 +* `spin()`是一个等待数据传来之后才进入回调函数，回调函数在subscriber里已经注册过了；直接ctrl+click点开`spin()`函数看； +* 回调函数的参数是一个指向消息的指针； +* 队列，保存从publisher传来的数据，如果超过10，淘汰时间戳最老的数据； +* 在main函数中，传给回调函数的是一个回调函数的函数名，实际上是指针；有点像中断，一旦有subscriber订阅的消息进来，就进入到回调函数作处理； + +## 话题消息的定义和使用 + +完成消息的自定义和发布订阅的使用，由publisher发布，subscriber接受信息 + +话题消息： +$$ +Publisher\rightarrow Subscriber +$$ + +### 1. 自定义话题消息 + +自定义话题消息分为以下几步： + +* 定义msg文件 +* 在package.xml里添加依赖 +* 在CMakeList添加编译选项 +* 编译 + +**定义`msg`文件** + +* 文件名必须命名为`msg`，且放在具体功能包的目录下；别的命名会报错； +* 内容不能缩进，不能大写（有待考证） + +比如下面的包含姓名，性别和年龄消息的定义： + +``` +string name +uint8 sex +uint8 age + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 +``` + +**在`package.xml`中添加功能包依赖** + +注意看`xml`文件中写的例子和用法： + +```xml + + + + + + +``` + +对以依赖，要build+exec，即编译+执行；编译的依赖和运行的依赖可能不一样； + +在该文件里已经包含了创建功能包时添加的依赖，比如roscpp，rospy，std_msgs这种基本的，如果需要添加其他依赖，就在package.xml文件修改 + +在这里添加两个动态产生`message`的功能包： + +```xml +message_generation +message_runtime +``` + +**在`CMakeList.txt`中添加编译选项** + +将`message_generation`添加到找包中： + +```cmake +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + message_generation +) +``` + +声明消息文件，参考ROS官方的写法 + +```cmake +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) +``` + +大致对于topic，service和action三种通信机制（action是通信机制？），声明消息文件的方法是，**`add_xxx_files()+generate_messages()`** + +```cmake +add_message_files( + FILES Person.msg +) + +generate_messages( + DEPENDENCIES std_msgs +) +``` + +最后在`catkin_package`中添加`message_runtime`的运行依赖 + +```cmake +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_topic + CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime +# DEPENDS system_lib +) +``` + +原本这行是注释掉的，因为创建功能包时已经添加好了这些依赖（我的猜想）； + +需要添加其他依赖的时候，取消注释，加到后面就行了； + +**编译** + +```shell +$ catkin_make +``` + +之后在`devel/include/pkg`里面会生成`Person.h`，里面写了详细的调用方法； + +### 2. Publisher and Subscriber + +### 3. make + +可执行文件与动态生成的程序也产生依赖 + +```cmake +add_executable(person_publisher src/person_publisher.cpp) +target_link_libraries(person_publisher ${catkin_LIBRARIES}) +add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp) + +add_executable(person_subscriber src/person_subscriber.cpp) +target_link_libraries(person_subscriber ${catkin_LIBRARIES}) +add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) +``` + +要和自定义消息作连接，必须添加： + +```cmake +add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) +``` + +![person_info](images/person_info.png) diff --git a/Basics/images/person_info.png b/Basics/images/person_info.png new file mode 100644 index 0000000000000000000000000000000000000000..3fedd6ffba15d1b7cc898e468e7b04a6ae5770a8 GIT binary patch literal 106768 zcmbrlV~{4nx9;2Kv~And?w+@8+nly-+qP}n=Cp0wHgE5J&WZTnh`Z01yS`LZRa9lh zs$45`J^8CJIT=wn7;G3IARst#F(CyYAkYpVAYd~nh@UIk_q^{v2QUW#aV4l9^Mo=C 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zXRX&}-XZ}2S1$hk7Qg|0IUcI*L_sM|_qeOZnv!d;C-E|1jpa9noSUvrXp-S#EPXZc zs>Vp|t*Bg40AA=f7Csoul&2sU<7+f7mjAUHVkaCAz2wqG0U#zJDb(qt-z9jF0m5Vq zr6^Cbk@|y3w;p3@#6=BVi<-ELHol`4$7KQy3mwjqpLD2!B3YoM{0do8y}V2 zUbZ$S+fT)WzTv;$VP;5fL(OO`FP6@jc~f%rL(OQ7bO+3?lAH0E(CoAo*|iJ5^B4Xi zqs#;}LSw{CHqC2d2zZtDS&WsxP(NEc4x+=Wn9C$b0 zL+c|aF%^mOlQz)B@-3s?$r{~wW%f%l ztXik}snBJhJ92^HAVT+3+#VmHQ?AG?_Sb8`p6*E8`1O}Fi~ay{P7SJ|?@?26LgEu- zrEaoP`1OO5?!~JhDh;ZePk(`~r3;waQ*v29JBkt)(@49=6-}#O7&O6o~UrR{O7o4~L0>vIuNHc3tA*P+X!dgqH z-Q*`QFdt^71~@dDLaSNn16(r;!H?pGx|>GC5*;de?gO&VeuE}>R^f0>;_ zgNpt7&ZQ?x?UGTj7h&iT zc9WdfkfS!v +#include "learning_topic//Person.h" + +int main(int argc, char **argv){ + // init ROS node + ros::init(argc, argv, "person_publisher"); + + // create node handle + ros::NodeHandle n; + + // create a publisher + // whose topic name is person_info + // message type is learning_topic::Person + ros::Publisher person_info_pub = n.advertise("/person_info", 10); + + // set frequency for loop + ros::Rate loop_rate(1); + + while(ros::ok()){ + // init learning_topic::Person message + learning_topic::Person person_msg; + person_msg.name = "Alex"; + person_msg.sex = learning_topic::Person::male; + person_msg.age = 22; + + // publish message + person_info_pub.publish(person_msg); + + ROS_INFO("publish person info: name: %s age: %d sex: %d", + person_msg.name.c_str(), person_msg.age, person_msg.sex); + + // set delay time for each loop + loop_rate.sleep(); + } + + return 0; +} + + + diff --git a/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp b/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp new file mode 100644 index 0000000..ac75e42 --- /dev/null +++ b/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp @@ -0,0 +1,32 @@ +// +// Created by hazyparker on 2022/1/3. +// Subscribe topic /person_info, type defined as learning_topic::Person + +#include +#include "learning_topic//Person.h" + +void personInfoCallback(const learning_topic::Person::ConstPtr &msg){ + // while message received, step to callback function + // print message + ROS_INFO("subscribe person info: name %s age: %d sex: %d", + msg->name.c_str(), msg->age, msg->sex); +} + +int main(int argc, char **argv){ + // init ROS node + ros::init(argc, argv, "person_subscriber"); + + // create node handle + ros::NodeHandle n; + + // create a subscriber + // subscribe topic named /person_info + // define callback function personInfoCallback + ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback); + + // wait for message + ros::spin(); + + return 0; +} + diff --git a/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp b/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp index 92fea98..13ce513 100644 --- a/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp +++ b/Basics/test2_ws/src/learning_topic/src/velocity_publisher.cpp @@ -18,7 +18,6 @@ int main(int argc, char **argv){ // set loop rate ros::Rate loop_rate(10); - int count = 0; while(ros::ok()){ // init msg Twist geometry_msgs::Twist vel_msg; -- Gitee From 4acadb16eaa37ee071c4e23a1a5859a4484b1b9b Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Mon, 3 Jan 2022 23:09:58 +0800 Subject: [PATCH 05/11] add turtle_spawn.cpp --- Basics/ROS_basic.md | 43 ++++ Basics/images/client.png | Bin 0 -> 114663 bytes .../src/learning_service/CMakeLists.txt | 211 ++++++++++++++++++ .../test2_ws/src/learning_service/package.xml | 74 ++++++ .../src/learning_service/src/turtle_spawn.cpp | 36 +++ .../test2_ws/src/learning_topic/package.xml | 2 + 6 files changed, 366 insertions(+) create mode 100644 Basics/images/client.png create mode 100644 Basics/test2_ws/src/learning_service/CMakeLists.txt create mode 100644 Basics/test2_ws/src/learning_service/package.xml create mode 100644 Basics/test2_ws/src/learning_service/src/turtle_spawn.cpp diff --git a/Basics/ROS_basic.md b/Basics/ROS_basic.md index e491a53..745ebca 100644 --- a/Basics/ROS_basic.md +++ b/Basics/ROS_basic.md @@ -588,3 +588,46 @@ add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) ![person_info](images/person_info.png) +## 客户端Client的编程实现 + +* 初始化ROS节点 +* 设置阻塞函数，直到发现`\spawn`服务时才向下进行，否则截止在该位置 +* 发现服务之后创建客户端 +* 设置数据 +* 请求服务调用 + +阻塞函数`waitForService(service name)`： + +```cpp + // wait until service /spawn is founded + ros::service::waitForService("/spawn"); +``` + +创建客户端，连接到服务： + +```cpp + // create a client, connecting to service /spawn + ros::ServiceClient add_turtle = n.serviceClient("/spawn"); +``` + +设置数据和请求服务调用： + +```cpp +// init request data + turtlesim::Spawn srv; + srv.request.x = 2.0; + srv.request.y = 2.0; + srv.request.name = "turtle2"; + + // call request service + ROS_INFO("call service to spawn turtle[x:%0.6f, y:%0.6f, name:%s]", + srv.request.x, srv.request.y, srv.request.name.c_str()); + add_turtle.call(srv); +``` + +结果（示例）： + +![client](images/client.png) + +## 服务器Server的编程实现 + diff --git a/Basics/images/client.png 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+ + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_srvs + roscpp + rospy + std_srvs + roscpp + rospy + std_srvs + + + + + + + + diff --git a/Basics/test2_ws/src/learning_parameter/src/parameter_config.cpp b/Basics/test2_ws/src/learning_parameter/src/parameter_config.cpp new file mode 100644 index 0000000..b96dd7e --- /dev/null +++ b/Basics/test2_ws/src/learning_parameter/src/parameter_config.cpp @@ -0,0 +1,49 @@ +// +// Created by hazyparker on 2022/1/8. +// set/get parameters in turtle node + +#include +#include +#include + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "parameter_config"); + + // create node handle + ros::NodeHandle n; + + // get background RGB param + int red = 0, green = 0, blue = 0; + ros::param::get("/turtlesim/background_r", red); + ros::param::get("/turtlesim/background_g", green); + ros::param::get("/turtlesim/background_b", blue); + + ROS_INFO("get param, background color in RGB [%d, %d, %d]", red, green, blue); + + // set background RGB param + // set all params equal 255, namely white background + ros::param::set("/turtlesim/background_r", 255); + ros::param::set("/turtlesim/background_g", 255); + ros::param::set("/turtlesim/background_b", 255); + + ROS_INFO("new background color set!"); + + // get params again to see changes + ros::param::get("/turtlesim/background_r", red); + ros::param::get("/turtlesim/background_g", green); + ros::param::get("/turtlesim/background_b", blue); + + ROS_INFO("get param, background color in RGB [%d, %d, %d]", red, green, blue); + + // call service to refresh background color + ros::service::waitForService("/clear"); + ros::ServiceClient clear_background = n.serviceClient("/clear"); + std_srvs::Empty srv; + clear_background.call(srv); + + sleep(1); + + return 0; +} + diff --git a/Basics/test2_ws/src/learning_tf/CMakeLists.txt b/Basics/test2_ws/src/learning_tf/CMakeLists.txt new file mode 100644 index 0000000..8b5af8d --- /dev/null +++ b/Basics/test2_ws/src/learning_tf/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_tf) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + tf + turtlesim +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_tf +# CATKIN_DEPENDS roscpp rospy tf turtlesim +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_tf.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_tf_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_tf.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/test2_ws/src/learning_tf/package.xml b/Basics/test2_ws/src/learning_tf/package.xml new file mode 100644 index 0000000..d884378 --- /dev/null +++ b/Basics/test2_ws/src/learning_tf/package.xml @@ -0,0 +1,71 @@ + + + learning_tf + 0.0.0 + The learning_tf package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + tf + turtlesim + roscpp + rospy + tf + turtlesim + roscpp + rospy + tf + turtlesim + + + + + + + + -- Gitee From c32107dcd5adebe4096512f85ca7983194f9ea95 Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Sat, 8 Jan 2022 18:35:06 +0800 Subject: [PATCH 08/11] add tf_broadcaster and listener --- .../test2_ws/src/learning_tf/CMakeLists.txt | 6 ++ .../learning_tf/src/turtle_tf_broadcaster.cpp | 48 ++++++++++++++++ .../learning_tf/src/turtle_tf_listener.cpp | 56 +++++++++++++++++++ 3 files changed, 110 insertions(+) create mode 100644 Basics/test2_ws/src/learning_tf/src/turtle_tf_broadcaster.cpp create mode 100644 Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp diff --git a/Basics/test2_ws/src/learning_tf/CMakeLists.txt b/Basics/test2_ws/src/learning_tf/CMakeLists.txt index 8b5af8d..31ecd07 100644 --- a/Basics/test2_ws/src/learning_tf/CMakeLists.txt +++ b/Basics/test2_ws/src/learning_tf/CMakeLists.txt @@ -151,6 +151,12 @@ include_directories( # ${catkin_LIBRARIES} # ) +add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp) +target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES}) + +add_executable(turtle_tf_listener src/turtle_tf_listener.cpp) +target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES}) + ############# ## Install ## ############# diff --git a/Basics/test2_ws/src/learning_tf/src/turtle_tf_broadcaster.cpp b/Basics/test2_ws/src/learning_tf/src/turtle_tf_broadcaster.cpp new file mode 100644 index 0000000..ad75826 --- /dev/null +++ b/Basics/test2_ws/src/learning_tf/src/turtle_tf_broadcaster.cpp @@ -0,0 +1,48 @@ +// +// Created by hazyparker on 2022/1/8. +// create tf data, send cmd of turtle2 + +#include +#include +#include + +std::string turtle_name; + +void poseCallback(const turtlesim::PoseConstPtr &msg){ + // create tf broadcaster + static tf::TransformBroadcaster br; + + // init tf data + tf::Transform transform; + transform.setOrigin(tf::Vector3(msg->x, msg->y, 0.0)); + tf::Quaternion q; + q.setRPY(0, 0, msg->theta); + transform.setRotation(q); + + // broadcast tf data between world and turtle(store in transform) + // describe axis relationship of world and turtle_name + // from now to next 10 seconds + br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name)); +} + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "my_tf_broadcaster"); + + // use input param as turtle name + if(argc != 2){ + ROS_ERROR("need turtle name as argument"); + return -1; + } + turtle_name = argv[1]; + + // subscribe Pose topic + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe(turtle_name+"/pose", 10, poseCallback); + + // loop, waiting for callback function + ros::spin(); + + return 0; +} + diff --git a/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp b/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp new file mode 100644 index 0000000..3681911 --- /dev/null +++ b/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp @@ -0,0 +1,56 @@ +// +// Created by hazyparker on 2022/1/8. +// listener of tf data + +#include +#include +#include +#include + + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "my_tf_listener"); + + // create ros node + ros::NodeHandle n; + + // create turtle2 + ros::service::waitForService("/spawn"); + ros::ServiceClient add_turtle = n.serviceClient("/spawn"); + turtlesim::Spawn srv; + add_turtle.call(srv); + + // create publisher + ros::Publisher turtle_vel = n.advertise("/turtle2/cmd_vel", 10); + + // create tf listener + tf::TransformListener transformListener; + + ros::Rate loop_rate(10.0); + while(n.ok()){ + // get tf data between turtle1 and turtle2 + tf::StampedTransform transform; + try{ + transformListener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0)); + transformListener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform); + } + catch(tf::TransformException &exception){ + ROS_ERROR("%s", exception.what()); + ros::Duration(1.0).sleep(); + continue; + } + + // publish cmd_vel of turtle2 to catch up with turtle1 + geometry_msgs::Twist vel_msg; + vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(), transform.getOrigin().x()); + vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) + + pow(transform.getOrigin().y(), 2)); + turtle_vel.publish(vel_msg); + + loop_rate.sleep(); + } + + return 0; +} + -- Gitee From 2b16b648b8966a901dfae5f1fac0b257b0a88613 Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Sun, 9 Jan 2022 19:55:24 +0800 Subject: [PATCH 09/11] add tf_broadcaster and listener --- Basics/ROS_basic.md | 192 +++++++++++++++++ .../src/learning_launch/CMakeLists.txt | 202 ++++++++++++++++++ .../src/learning_launch/config/param.yaml | 6 + .../src/learning_launch/launch/simple.launch | 4 + .../launch/turtlesim_parameter_config.launch | 14 ++ .../test2_ws/src/learning_launch/package.xml | 59 +++++ .../learning_tf/src/turtle_tf_listener.cpp | 1 + 7 files changed, 478 insertions(+) create mode 100644 Basics/test2_ws/src/learning_launch/CMakeLists.txt create mode 100644 Basics/test2_ws/src/learning_launch/config/param.yaml create mode 100644 Basics/test2_ws/src/learning_launch/launch/simple.launch create mode 100644 Basics/test2_ws/src/learning_launch/launch/turtlesim_parameter_config.launch create mode 100644 Basics/test2_ws/src/learning_launch/package.xml diff --git a/Basics/ROS_basic.md b/Basics/ROS_basic.md index 25352ea..19b6ab2 100644 --- a/Basics/ROS_basic.md +++ b/Basics/ROS_basic.md @@ -998,6 +998,8 @@ $ roslaunch turtle_tf turtle_tf_demo.launch $ rosrun tf view_frames ``` +会生成一个pdf，路径在当前终端路径下； + ![frame](images/frame.png) @@ -1025,3 +1027,193 @@ $ rosrun rviz rviz -d `rospack find turtle_tf` /rviz/turtle_rviz.rviz ![rviz](images/rviz.png) ### 2. 广播与监听的编程实现 + +**如何实现一个tf广播器：** + +* 定义TF广播器（Transform Broadcaster） +* 创建坐标变换值 +* 发布坐标变换（send Transform） + +定义tf广播器： + +```cpp + // create tf broadcaster + static tf::TransformBroadcaster br; +``` + +创建坐标变换值： + +```cpp + // init tf data + tf::Transform transform; + transform.setOrigin(tf::Vector3(msg->x, msg->y, 0.0)); + tf::Quaternion q; + q.setRPY(0, 0, msg->theta); + transform.setRotation(q); +``` + +发布坐标变换： + +```cpp + // broadcast tf data between world and turtle(store in transform) + // describe axis relationship of world and turtle_name + // from now to next 10 seconds + br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name)); +``` + +**如何实现一个tf监听器：** + +* 定义TF监听器 +* 查找坐标变换 + +定义监听器： + +```cpp +// create tf listener + tf::TransformListener transformListener; +``` + +查找坐标变换： + +```cpp + tf::StampedTransform transform; + transformListener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0)); + transformListener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform); +``` + +### 3. make + +[ros的重映射](https://zhuanlan.zhihu.com/p/80366497) + +```shell +$ rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1 +$ rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2 +``` + +` __name:turtle1_tf_broadcaster`会取代掉程序中定义的节点名字，但是功能是一样的，这样同样的程序可以运行两次； + +最后查询两个坐标系之间的关系，给`turtle2`发送速度指令使其移动； + +```shell +$ rosrun learning_tf turtle_tf_listener +``` + +也可以使用键盘控制，来观察一下运动跟随情况； + +![tf_result_show](images/tf.png) + +## `launch`启动文件的使用方法 + +快速启动指令，节点；通过XML文件实现多节点的配置和启动； + +且`launch`可自动启动`roscore`； + +### 1. 语法 + +**launch和node：** + +```xml + + + + +``` + +* pkg：节点所在的功能包名称 +* type：节点的可执行文件名称 +* name：节点运行时的名称，相当于程序中`ros::init()`第三个参数； + +**参数设置：** + +```xml + +``` + +* 设置ROS运行中的参数，存储在参数服务器中 + +```xml + +``` + +* 加载文件中的多个参数，存储在参数服务器 + +```xml + +``` + +* arg（argument）仅限launch文件内部的局部变量，仅限于launch文件使用 +* 参数分别是参数名和参数值 + +arg的调用： + +```xml + +``` + +**重映射remap：** + +```xml + +``` + +* 把原来的命名改为现在的命名 +* 原来的命名则不复存在 + +**嵌套include：** + +```xml + +``` + +* 用于包含其他launch文件 + +具体信息参考官网http://wiki.ros.org/roslaunch/XML + +### 2. 例子 + +首先新建功能包（也可以直接用现有的）； + +在src目录下新建`launch`文件夹，里面存放具体的launch文件； + +编写launch文件； + +运行； + +```shell +$ catkin_make +$ source devel/setup.bash +$ roslaunch learning_launch simple.launch +``` + +simple.launch如下： + +```xml + + + + +``` + +turtlesim_parameter_config.launch如下： + +```xml + + + + + + + + + + + + + + +``` + +* 运行之后通过`rosparam list`命令，可以查看到参数管理器里面新增的参数； +* param写到node内部，则沿用node的命名空间 +* param写到node外部，有自己的命名空间 +* 因此可能有多个命名空间 diff --git a/Basics/test2_ws/src/learning_launch/CMakeLists.txt b/Basics/test2_ws/src/learning_launch/CMakeLists.txt new file mode 100644 index 0000000..e3a5204 --- /dev/null +++ b/Basics/test2_ws/src/learning_launch/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_launch) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_launch +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_launch.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_launch_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_launch.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/test2_ws/src/learning_launch/config/param.yaml b/Basics/test2_ws/src/learning_launch/config/param.yaml new file mode 100644 index 0000000..cb38263 --- /dev/null +++ b/Basics/test2_ws/src/learning_launch/config/param.yaml @@ -0,0 +1,6 @@ +A: 123 +B: "hello" + +group: + C: 456 + D: "hello?" diff --git a/Basics/test2_ws/src/learning_launch/launch/simple.launch b/Basics/test2_ws/src/learning_launch/launch/simple.launch new file mode 100644 index 0000000..c7cd9e7 --- /dev/null +++ b/Basics/test2_ws/src/learning_launch/launch/simple.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Basics/test2_ws/src/learning_launch/launch/turtlesim_parameter_config.launch b/Basics/test2_ws/src/learning_launch/launch/turtlesim_parameter_config.launch new file mode 100644 index 0000000..2c81e34 --- /dev/null +++ b/Basics/test2_ws/src/learning_launch/launch/turtlesim_parameter_config.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/Basics/test2_ws/src/learning_launch/package.xml b/Basics/test2_ws/src/learning_launch/package.xml new file mode 100644 index 0000000..b97222d --- /dev/null +++ b/Basics/test2_ws/src/learning_launch/package.xml @@ -0,0 +1,59 @@ + + + learning_launch + 0.0.0 + The learning_launch package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp b/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp index 3681911..1b6e6e3 100644 --- a/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp +++ b/Basics/test2_ws/src/learning_tf/src/turtle_tf_listener.cpp @@ -42,6 +42,7 @@ int main(int argc, char **argv){ } // publish cmd_vel of turtle2 to catch up with turtle1 + // a simple P(proportion) control geometry_msgs::Twist vel_msg; vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(), transform.getOrigin().x()); vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) + -- Gitee From bd9ee227cf79a7673838d61976a17d78f8fba9ef Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Sun, 9 Jan 2022 19:56:13 +0800 Subject: [PATCH 10/11] add tf_broadcaster and listener --- Basics/images/tf.png | Bin 0 -> 688982 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 Basics/images/tf.png diff --git a/Basics/images/tf.png b/Basics/images/tf.png new file mode 100644 index 0000000000000000000000000000000000000000..f2e151064629ab2a09c3ea0eaaed9f90071555c6 GIT binary patch literal 688982 zcmZsC1yEc~w=M4O?luGq?(T%(!Gl|HcL^HYA-F?u_uw+PyTjn_Hpt_D_xtXxdiR|= zRj1}mAM4(|_u6Z(4p;svgNj6i1OWkoDkm$c3IPEh009BRivag==5V%0;^P40EH0;x z@Ui(InEv|sP3R(}<)UV9?&5CbWCmejXK!o9>}=v>W@hJXY436Y-6aeGK>;BrDW>j` zdAjbNNv6^9cs0p4o88n=bWtphgec`j@1lYuDSAY~`2FvqTWzZM-AdJS`%)1;CMKkm zN_+~2C_g0(Rzh6cusQgAwj}cgY?8fhlK_iI!#N4QTUk68o=oDn8ROvCe9ESp;5`!} z>SIIs-#f^5a$#lHAN7C#)5o@f_yua|e_yopwGh@!B}le0AQ6re2G+%hql&0M<#?PW z--w`q4bkv_-^%2Zlu9IzISYt>qJMY}f;;}3WL|8}S&2O;@=;$wmi^Kkf1WMMc8TuY znjqBZ|JhLhOD0xnzD%wl9l&G6&)hEtEoonr!=w#8T{*vQ=IEWlz-cm5klK3HN7@h! zB2>4+)+`WF_J8UW*-b9?Zhdky&2G-0ZZfd$nD_H;we@NBz0`Rq{r4$@x;;&w#|3EL zIR2}1qTCbm=ZAg^#gvqpVRi74<66nv#n8fUb{Eng%&yf7n32ZMMtr#=P*p=KsoAkh zXge5ZX}h9(>P>ymh>3|_yUsWnKDe=Wb975zXaaos&4x(X9HU*pVEo#~Wuw(~uE@A7 zVllpEyRztR3RlTxM1U2FsRQ(FM~6L^2PCNm8_6!CGk}GSa446A5&2h?aHJmnL~%Mg zz)_m=+whQn%QB_Rh?^8BfYcEfBZTgzSl-ZkF@n%wm4^B2q=*Oa)>Het4H1QY;(z<` z^ou;8mw^gFJdmQIKWz1#0oRr*XCa*eRBQYpRkaOM5wYTVb`n-07kF%{CLUUCIvNGx6^M%>q+PVvRt=ixw%gVX7*$} z-Wl)%Jjl9Jb{+qU24iTYgqX>VOiQlBWCF97rI>u`!s<@W(ktQ61P>kDa`+Co#@kOr zXa%n?dsQ}PbwKct`i&)*r5rHO{_V-_3ow?H1Wc1#Td_G~KcW5itBA>rijwzE)$jD%b-_yhVz-LHTaBZk_^Vf5+Z=ECHEZz0Tu-=O_2MImWvQ<7S$g3Pq(Fm3+n zxIq?NdPnN~P{J?rDblEAT#ja%R*+evONSOUOmYOFx27>$QHi>a=U_~pYD=>b0Qr8$ zH0hel!H?%)3KVK}vouvCJz$T5$5M(EfppTSnUBb?Pnh+tMJvoF$sSda2d#aM3&aEJ zQ(XULwHxP9%|9JMC9|nFS3wAsobpysm_I{pRvA9JIjBOkS4Qc@6H` z#`TT1j6f1+6x9*Zbk+!}hyf~e5l$~CUe$C}LZbVP3@ea=4MxzT7@UZD(gEqHV`a3u zZMyvEn;a1nGV97vI_;+;6g31$GZC6bu*&J?T;EOX`T*$Mn-`QpUwh%3dKC_a(YQlZ z=ZpBcg)#B?c0}^J%k%g``Z}~r4E}F_7v(P`Z#7~T8QLe@GvJ;2HasVMQr-E>ph`Zs zQL%QHF|Wf7l<3t`49!6&6K7NTX;yHV7>8~NFOFsS%+*cU}1_CcSN=iJasL?)$6*sNhZRJA;&ehhW)bn!-*Lmn!N*b3reg>XQDd9-NA3NBg91mCSxy)?c^XEfdbiTlo2 z5mu3ahfLm(IS0YAA?A+6E@qzu-17Dz9RLYDRaUXpCN^KE?MZFhHBCcO9WP-N#0Q02N5l-DGR`_e$Dllf0w2J(LY$ zI9$l{y&a1;!wxi2B7R*b+j-RSvIAb_?5T~a1APL3jXxy_(eW=C#ozZO~lKn6MzFn^ih zuUZqpIgtZg3F5CdeUc#gse080Epk4gBab}k>`3C>E?Id2pY-G2^nKXZg+*K1;`d

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.../src/learning_launch/launch/simple.launch | 4 + .../launch/turtlesim_parameter_config.launch | 14 ++ .../src/learning_launch/package.xml | 59 +++++ .../src/learning_parameter/CMakeLists.txt | 209 ++++++++++++++++ .../src/learning_parameter/package.xml | 68 +++++ .../src/parameter_config.cpp | 49 ++++ .../src/learning_service/CMakeLists.txt | 233 ++++++++++++++++++ .../src/learning_service/package.xml | 77 ++++++ .../learning_service/src/person_client.cpp | 37 +++ .../learning_service/src/person_server.cpp | 35 +++ .../src/turtle_command_server.cpp | 64 +++++ .../src/learning_service/src/turtle_spawn.cpp | 36 +++ .../src/learning_service/srv/Person.srv | 9 + .../src/learning_service/srv/person.srv | 9 + .../src/learning_tf/CMakeLists.txt | 213 ++++++++++++++++ .../src/learning_tf/package.xml | 71 ++++++ .../learning_tf/src/turtle_tf_broadcaster.cpp | 48 ++++ .../learning_tf/src/turtle_tf_listener.cpp | 57 +++++ .../src/learning_topic/CMakeLists.txt | 231 +++++++++++++++++ .../src/learning_topic/msg/Person.msg | 7 + .../src/learning_topic/package.xml | 76 ++++++ .../learning_topic/src/person_publisher.cpp | 44 ++++ .../learning_topic/src/person_subscriber.cpp | 32 +++ .../learning_topic/src/pose_subscriber.cpp | 30 +++ .../learning_topic/src/velocity_publisher.cpp | 37 +++ 29 files changed, 1959 insertions(+) create mode 100644 Basics/workspace_example/.catkin_workspace create mode 120000 Basics/workspace_example/src/CMakeLists.txt create mode 100644 Basics/workspace_example/src/learning_launch/CMakeLists.txt create mode 100644 Basics/workspace_example/src/learning_launch/config/param.yaml create mode 100644 Basics/workspace_example/src/learning_launch/launch/simple.launch create mode 100644 Basics/workspace_example/src/learning_launch/launch/turtlesim_parameter_config.launch create mode 100644 Basics/workspace_example/src/learning_launch/package.xml create mode 100644 Basics/workspace_example/src/learning_parameter/CMakeLists.txt create mode 100644 Basics/workspace_example/src/learning_parameter/package.xml create mode 100644 Basics/workspace_example/src/learning_parameter/src/parameter_config.cpp create mode 100644 Basics/workspace_example/src/learning_service/CMakeLists.txt create mode 100644 Basics/workspace_example/src/learning_service/package.xml create mode 100644 Basics/workspace_example/src/learning_service/src/person_client.cpp create mode 100644 Basics/workspace_example/src/learning_service/src/person_server.cpp create mode 100644 Basics/workspace_example/src/learning_service/src/turtle_command_server.cpp create mode 100644 Basics/workspace_example/src/learning_service/src/turtle_spawn.cpp create mode 100644 Basics/workspace_example/src/learning_service/srv/Person.srv create mode 100644 Basics/workspace_example/src/learning_service/srv/person.srv create mode 100644 Basics/workspace_example/src/learning_tf/CMakeLists.txt create mode 100644 Basics/workspace_example/src/learning_tf/package.xml create mode 100644 Basics/workspace_example/src/learning_tf/src/turtle_tf_broadcaster.cpp create mode 100644 Basics/workspace_example/src/learning_tf/src/turtle_tf_listener.cpp create mode 100644 Basics/workspace_example/src/learning_topic/CMakeLists.txt create mode 100644 Basics/workspace_example/src/learning_topic/msg/Person.msg create mode 100644 Basics/workspace_example/src/learning_topic/package.xml create mode 100644 Basics/workspace_example/src/learning_topic/src/person_publisher.cpp create mode 100644 Basics/workspace_example/src/learning_topic/src/person_subscriber.cpp create mode 100644 Basics/workspace_example/src/learning_topic/src/pose_subscriber.cpp create mode 100644 Basics/workspace_example/src/learning_topic/src/velocity_publisher.cpp diff --git a/Basics/workspace_example/.catkin_workspace b/Basics/workspace_example/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/Basics/workspace_example/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Basics/workspace_example/src/CMakeLists.txt b/Basics/workspace_example/src/CMakeLists.txt new file mode 120000 index 0000000..66dd650 --- /dev/null +++ b/Basics/workspace_example/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/Basics/workspace_example/src/learning_launch/CMakeLists.txt b/Basics/workspace_example/src/learning_launch/CMakeLists.txt new file mode 100644 index 0000000..e3a5204 --- /dev/null +++ b/Basics/workspace_example/src/learning_launch/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_launch) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_launch +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_launch.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_launch_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_launch.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/workspace_example/src/learning_launch/config/param.yaml b/Basics/workspace_example/src/learning_launch/config/param.yaml new file mode 100644 index 0000000..cb38263 --- /dev/null +++ b/Basics/workspace_example/src/learning_launch/config/param.yaml @@ -0,0 +1,6 @@ +A: 123 +B: "hello" + +group: + C: 456 + D: "hello?" diff --git a/Basics/workspace_example/src/learning_launch/launch/simple.launch b/Basics/workspace_example/src/learning_launch/launch/simple.launch new file mode 100644 index 0000000..c7cd9e7 --- /dev/null +++ b/Basics/workspace_example/src/learning_launch/launch/simple.launch @@ -0,0 +1,4 @@ + + + + diff --git a/Basics/workspace_example/src/learning_launch/launch/turtlesim_parameter_config.launch b/Basics/workspace_example/src/learning_launch/launch/turtlesim_parameter_config.launch new file mode 100644 index 0000000..2c81e34 --- /dev/null +++ b/Basics/workspace_example/src/learning_launch/launch/turtlesim_parameter_config.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/Basics/workspace_example/src/learning_launch/package.xml b/Basics/workspace_example/src/learning_launch/package.xml new file mode 100644 index 0000000..b97222d --- /dev/null +++ b/Basics/workspace_example/src/learning_launch/package.xml @@ -0,0 +1,59 @@ + + + learning_launch + 0.0.0 + The learning_launch package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/Basics/workspace_example/src/learning_parameter/CMakeLists.txt b/Basics/workspace_example/src/learning_parameter/CMakeLists.txt new file mode 100644 index 0000000..1f90b35 --- /dev/null +++ b/Basics/workspace_example/src/learning_parameter/CMakeLists.txt @@ -0,0 +1,209 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_parameter) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_srvs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_parameter +# CATKIN_DEPENDS roscpp rospy std_srvs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_parameter.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_parameter_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(parameter_config src/parameter_config.cpp) +target_link_libraries(parameter_config ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_parameter.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/workspace_example/src/learning_parameter/package.xml b/Basics/workspace_example/src/learning_parameter/package.xml new file mode 100644 index 0000000..905a167 --- /dev/null +++ b/Basics/workspace_example/src/learning_parameter/package.xml @@ -0,0 +1,68 @@ + + + learning_parameter + 0.0.0 + The learning_parameter package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_srvs + roscpp + rospy + std_srvs + roscpp + rospy + std_srvs + + + + + + + + diff --git a/Basics/workspace_example/src/learning_parameter/src/parameter_config.cpp b/Basics/workspace_example/src/learning_parameter/src/parameter_config.cpp new file mode 100644 index 0000000..b96dd7e --- /dev/null +++ b/Basics/workspace_example/src/learning_parameter/src/parameter_config.cpp @@ -0,0 +1,49 @@ +// +// Created by hazyparker on 2022/1/8. +// set/get parameters in turtle node + +#include +#include +#include + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "parameter_config"); + + // create node handle + ros::NodeHandle n; + + // get background RGB param + int red = 0, green = 0, blue = 0; + ros::param::get("/turtlesim/background_r", red); + ros::param::get("/turtlesim/background_g", green); + ros::param::get("/turtlesim/background_b", blue); + + ROS_INFO("get param, background color in RGB [%d, %d, %d]", red, green, blue); + + // set background RGB param + // set all params equal 255, namely white background + ros::param::set("/turtlesim/background_r", 255); + ros::param::set("/turtlesim/background_g", 255); + ros::param::set("/turtlesim/background_b", 255); + + ROS_INFO("new background color set!"); + + // get params again to see changes + ros::param::get("/turtlesim/background_r", red); + ros::param::get("/turtlesim/background_g", green); + ros::param::get("/turtlesim/background_b", blue); + + ROS_INFO("get param, background color in RGB [%d, %d, %d]", red, green, blue); + + // call service to refresh background color + ros::service::waitForService("/clear"); + ros::ServiceClient clear_background = n.serviceClient("/clear"); + std_srvs::Empty srv; + clear_background.call(srv); + + sleep(1); + + return 0; +} + diff --git a/Basics/workspace_example/src/learning_service/CMakeLists.txt b/Basics/workspace_example/src/learning_service/CMakeLists.txt new file mode 100644 index 0000000..38ee61f --- /dev/null +++ b/Basics/workspace_example/src/learning_service/CMakeLists.txt @@ -0,0 +1,233 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_service) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +add_service_files( + FILES Person.srv + FILES person.srv +) + +generate_messages( + DEPENDENCIES std_msgs +) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_service + CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_service.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_service_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(turtle_spawn src/turtle_spawn.cpp) +target_link_libraries(turtle_spawn ${catkin_LIBRARIES}) + +add_executable(turtle_command_server src/turtle_command_server.cpp) +target_link_libraries(turtle_command_server ${catkin_LIBRARIES}) + +add_executable(person_client src/person_client.cpp) +target_link_libraries(person_client ${catkin_LIBRARIES}) +add_dependencies(person_client ${PROJECT_NAME}_gencpp) + +add_executable(person_server src/person_server.cpp) +target_link_libraries(person_server ${catkin_LIBRARIES}) +add_dependencies(person_server ${PROJECT_NAME}_gencpp) + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_service.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/workspace_example/src/learning_service/package.xml b/Basics/workspace_example/src/learning_service/package.xml new file mode 100644 index 0000000..4c8f54e --- /dev/null +++ b/Basics/workspace_example/src/learning_service/package.xml @@ -0,0 +1,77 @@ + + + learning_service + 0.0.0 + The learning_service package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + message_generation + message_runtime + + + + + + + + diff --git a/Basics/workspace_example/src/learning_service/src/person_client.cpp b/Basics/workspace_example/src/learning_service/src/person_client.cpp new file mode 100644 index 0000000..9676e1d --- /dev/null +++ b/Basics/workspace_example/src/learning_service/src/person_client.cpp @@ -0,0 +1,37 @@ +// +// Created by hazyparker on 2022/1/7. +// request service /show_person, type defined as learning_service::Person + +#include +#include "learning_service/Person.h" + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "person_client"); + + // create ros node + ros::NodeHandle n; + + // wait for service "/show_person" + // then create a new client, connect it + ros::service::waitForService("/show_person"); + ros::ServiceClient person_client = n.serviceClient("/show_person"); + + // init request data of learning_service::Person + learning_service::Person srv; + srv.request.name = "Tom"; + srv.request.age = 20; + srv.request.sex = learning_service::Person::Request::male; + + // call request + ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]", + srv.request.name.c_str(), srv.request.age, srv.request.sex); + person_client.call(srv); + + // show calling result + ROS_INFO("show person result: %s", srv.response.result.c_str()); + + return 0; +} + + diff --git a/Basics/workspace_example/src/learning_service/src/person_server.cpp b/Basics/workspace_example/src/learning_service/src/person_server.cpp new file mode 100644 index 0000000..e6cc943 --- /dev/null +++ b/Basics/workspace_example/src/learning_service/src/person_server.cpp @@ -0,0 +1,35 @@ +// +// Created by hazyparker on 2022/1/7. +// + +#include +#include "learning_service/Person.h" + +bool personCallback(learning_service::Person::Request &req, + learning_service::Person::Response &res){ + // show request data + ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex); + + // set feedback data + res.result = "data flow succeed!"; + + return true; +} + +int main(int argc, char **argv){ + // ros node init + ros::init(argc, argv, "person_server"); + + // create ros node + ros::NodeHandle n; + + // create a server named "/show_person" + // define callback function personCallback + ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback); + + // loop, waiting for callback function + ROS_INFO("ready to show person information"); + ros::spin(); + + return 0; +} diff --git a/Basics/workspace_example/src/learning_service/src/turtle_command_server.cpp b/Basics/workspace_example/src/learning_service/src/turtle_command_server.cpp new file mode 100644 index 0000000..c6a2d94 --- /dev/null +++ b/Basics/workspace_example/src/learning_service/src/turtle_command_server.cpp @@ -0,0 +1,64 @@ +// +// Created by hazyparker on 2022/1/7. +// run /turtle_command service, type defined as std_srvs/Trigger + +#include +#include +#include + +ros::Publisher turtle_vel_pub; +bool pubCommand = false; + +bool commandCallback(std_srvs::Trigger::Request &req, + std_srvs::Trigger::Response &res){ + // use as flag + pubCommand = !pubCommand; + + // show request data + ROS_INFO("publish turtle velocity command [%s]", pubCommand == true? "yes":"no"); + + // set feedback data + res.success = true; + res.message = "Changed turtle command state..."; + + return true; +} + +int main(int argc, char **argv){ + // ros node init + ros::init(argc, argv, "turtle_command_server"); + + // create ros handle + ros::NodeHandle n; + + // create a server named /turtle_command + // define callback function "commandCallback" + ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback); + + // create a publisher + // publish topic named /turtle1/cmd_vel + // message type defined as geometry_msgs::Twist + turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); + + // loop, waiting for callback function + ROS_INFO("ready to receive turtle command"); + ros::Rate loop_rate(10); + + while(ros::ok()){ + // check callback queue for new message + ros::spinOnce(); + + // if pubCommand = true + if(pubCommand){ + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + turtle_vel_pub.publish(vel_msg); + } + + // set loop frequency + loop_rate.sleep(); + } + + return 0; +} diff --git a/Basics/workspace_example/src/learning_service/src/turtle_spawn.cpp b/Basics/workspace_example/src/learning_service/src/turtle_spawn.cpp new file mode 100644 index 0000000..a0b14b8 --- /dev/null +++ b/Basics/workspace_example/src/learning_service/src/turtle_spawn.cpp @@ -0,0 +1,36 @@ +// +// Created by hazyparker on 2022/1/3. +// request /spawn service, type as turtle sim::Spawn + +#include +#include + +int main(int argc, char **argv){ + // init ROS node + ros::init(argc, argv, "turtle_spawn"); + + // create node handle + ros::NodeHandle n; + + // wait until service /spawn is founded + ros::service::waitForService("/spawn"); + // create a client, connecting to service /spawn + ros::ServiceClient add_turtle = n.serviceClient("/spawn"); + + // init request data + turtlesim::Spawn srv; + srv.request.x = 2.0; + srv.request.y = 2.0; + srv.request.name = "turtle2"; + + // call request service + ROS_INFO("call service to spawn turtle[x:%0.6f, y:%0.6f, name:%s]", + srv.request.x, srv.request.y, srv.request.name.c_str()); + add_turtle.call(srv); + + // show result of calling service + ROS_INFO("Spawn turtle successfully [name:%s]", srv.response.name.c_str()); + + return 0; +} + diff --git a/Basics/workspace_example/src/learning_service/srv/Person.srv b/Basics/workspace_example/src/learning_service/srv/Person.srv new file mode 100644 index 0000000..06c1826 --- /dev/null +++ b/Basics/workspace_example/src/learning_service/srv/Person.srv @@ -0,0 +1,9 @@ +string name +uint8 age +uint8 sex + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 +--- +string result diff --git a/Basics/workspace_example/src/learning_service/srv/person.srv b/Basics/workspace_example/src/learning_service/srv/person.srv new file mode 100644 index 0000000..6a4fa16 --- /dev/null +++ b/Basics/workspace_example/src/learning_service/srv/person.srv @@ -0,0 +1,9 @@ +string name +uint8 age +uint8 sex + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 +--- +string result \ No newline at end of file diff --git a/Basics/workspace_example/src/learning_tf/CMakeLists.txt b/Basics/workspace_example/src/learning_tf/CMakeLists.txt new file mode 100644 index 0000000..31ecd07 --- /dev/null +++ b/Basics/workspace_example/src/learning_tf/CMakeLists.txt @@ -0,0 +1,213 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_tf) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + tf + turtlesim +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_tf +# CATKIN_DEPENDS roscpp rospy tf turtlesim +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_tf.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_tf_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp) +target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES}) + +add_executable(turtle_tf_listener src/turtle_tf_listener.cpp) +target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_tf.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/workspace_example/src/learning_tf/package.xml b/Basics/workspace_example/src/learning_tf/package.xml new file mode 100644 index 0000000..d884378 --- /dev/null +++ b/Basics/workspace_example/src/learning_tf/package.xml @@ -0,0 +1,71 @@ + + + learning_tf + 0.0.0 + The learning_tf package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + tf + turtlesim + roscpp + rospy + tf + turtlesim + roscpp + rospy + tf + turtlesim + + + + + + + + diff --git a/Basics/workspace_example/src/learning_tf/src/turtle_tf_broadcaster.cpp b/Basics/workspace_example/src/learning_tf/src/turtle_tf_broadcaster.cpp new file mode 100644 index 0000000..ad75826 --- /dev/null +++ b/Basics/workspace_example/src/learning_tf/src/turtle_tf_broadcaster.cpp @@ -0,0 +1,48 @@ +// +// Created by hazyparker on 2022/1/8. +// create tf data, send cmd of turtle2 + +#include +#include +#include + +std::string turtle_name; + +void poseCallback(const turtlesim::PoseConstPtr &msg){ + // create tf broadcaster + static tf::TransformBroadcaster br; + + // init tf data + tf::Transform transform; + transform.setOrigin(tf::Vector3(msg->x, msg->y, 0.0)); + tf::Quaternion q; + q.setRPY(0, 0, msg->theta); + transform.setRotation(q); + + // broadcast tf data between world and turtle(store in transform) + // describe axis relationship of world and turtle_name + // from now to next 10 seconds + br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name)); +} + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "my_tf_broadcaster"); + + // use input param as turtle name + if(argc != 2){ + ROS_ERROR("need turtle name as argument"); + return -1; + } + turtle_name = argv[1]; + + // subscribe Pose topic + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe(turtle_name+"/pose", 10, poseCallback); + + // loop, waiting for callback function + ros::spin(); + + return 0; +} + diff --git a/Basics/workspace_example/src/learning_tf/src/turtle_tf_listener.cpp b/Basics/workspace_example/src/learning_tf/src/turtle_tf_listener.cpp new file mode 100644 index 0000000..1b6e6e3 --- /dev/null +++ b/Basics/workspace_example/src/learning_tf/src/turtle_tf_listener.cpp @@ -0,0 +1,57 @@ +// +// Created by hazyparker on 2022/1/8. +// listener of tf data + +#include +#include +#include +#include + + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "my_tf_listener"); + + // create ros node + ros::NodeHandle n; + + // create turtle2 + ros::service::waitForService("/spawn"); + ros::ServiceClient add_turtle = n.serviceClient("/spawn"); + turtlesim::Spawn srv; + add_turtle.call(srv); + + // create publisher + ros::Publisher turtle_vel = n.advertise("/turtle2/cmd_vel", 10); + + // create tf listener + tf::TransformListener transformListener; + + ros::Rate loop_rate(10.0); + while(n.ok()){ + // get tf data between turtle1 and turtle2 + tf::StampedTransform transform; + try{ + transformListener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0)); + transformListener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform); + } + catch(tf::TransformException &exception){ + ROS_ERROR("%s", exception.what()); + ros::Duration(1.0).sleep(); + continue; + } + + // publish cmd_vel of turtle2 to catch up with turtle1 + // a simple P(proportion) control + geometry_msgs::Twist vel_msg; + vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(), transform.getOrigin().x()); + vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) + + pow(transform.getOrigin().y(), 2)); + turtle_vel.publish(vel_msg); + + loop_rate.sleep(); + } + + return 0; +} + diff --git a/Basics/workspace_example/src/learning_topic/CMakeLists.txt b/Basics/workspace_example/src/learning_topic/CMakeLists.txt new file mode 100644 index 0000000..34c8da7 --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/CMakeLists.txt @@ -0,0 +1,231 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_topic) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +add_message_files( + FILES Person.msg +) + +generate_messages( + DEPENDENCIES std_msgs +) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_topic + CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_topic.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_topic_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) +add_executable(velocity_publisher src/velocity_publisher.cpp) +target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) + +add_executable(pose_subscriber src/pose_subscriber.cpp) +target_link_libraries(pose_subscriber ${catkin_LIBRARIES}) + +add_executable(person_publisher src/person_publisher.cpp) +target_link_libraries(person_publisher ${catkin_LIBRARIES}) +add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp) + +add_executable(person_subscriber src/person_subscriber.cpp) +target_link_libraries(person_subscriber ${catkin_LIBRARIES}) +add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_topic.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/workspace_example/src/learning_topic/msg/Person.msg b/Basics/workspace_example/src/learning_topic/msg/Person.msg new file mode 100644 index 0000000..9e8a732 --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/msg/Person.msg @@ -0,0 +1,7 @@ +string name +uint8 sex +uint8 age + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 diff --git a/Basics/workspace_example/src/learning_topic/package.xml b/Basics/workspace_example/src/learning_topic/package.xml new file mode 100644 index 0000000..47d2fc9 --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/package.xml @@ -0,0 +1,76 @@ + + + learning_topic + 0.0.0 + The learning_topic package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + message_generation + message_runtime + + + + + + + + diff --git a/Basics/workspace_example/src/learning_topic/src/person_publisher.cpp b/Basics/workspace_example/src/learning_topic/src/person_publisher.cpp new file mode 100644 index 0000000..818fefd --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/src/person_publisher.cpp @@ -0,0 +1,44 @@ +// +// Created by hazyparker on 2022/1/3. +// Publish person_info topic, message type defined as learning_topic::Person + +#include +#include "learning_topic//Person.h" + +int main(int argc, char **argv){ + // init ROS node + ros::init(argc, argv, "person_publisher"); + + // create node handle + ros::NodeHandle n; + + // create a publisher + // whose topic name is person_info + // message type is learning_topic::Person + ros::Publisher person_info_pub = n.advertise("/person_info", 10); + + // set frequency for loop + ros::Rate loop_rate(1); + + while(ros::ok()){ + // init learning_topic::Person message + learning_topic::Person person_msg; + person_msg.name = "Alex"; + person_msg.sex = learning_topic::Person::male; + person_msg.age = 22; + + // publish message + person_info_pub.publish(person_msg); + + ROS_INFO("publish person info: name: %s age: %d sex: %d", + person_msg.name.c_str(), person_msg.age, person_msg.sex); + + // set delay time for each loop + loop_rate.sleep(); + } + + return 0; +} + + + diff --git a/Basics/workspace_example/src/learning_topic/src/person_subscriber.cpp b/Basics/workspace_example/src/learning_topic/src/person_subscriber.cpp new file mode 100644 index 0000000..b240cbe --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/src/person_subscriber.cpp @@ -0,0 +1,32 @@ +// +// Created by hazyparker on 2022/1/3. +// Subscribe topic /person_info, type defined as learning_topic::Person + +#include +#include "learning_topic/Person.h" + +void personInfoCallback(const learning_topic::Person::ConstPtr &msg){ + // while message received, step to callback function + // print message + ROS_INFO("subscribe person info: name %s age: %d sex: %d", + msg->name.c_str(), msg->age, msg->sex); +} + +int main(int argc, char **argv){ + // init ROS node + ros::init(argc, argv, "person_subscriber"); + + // create node handle + ros::NodeHandle n; + + // create a subscriber + // subscribe topic named /person_info + // define callback function personInfoCallback + ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback); + + // wait for message + ros::spin(); + + return 0; +} + diff --git a/Basics/workspace_example/src/learning_topic/src/pose_subscriber.cpp b/Basics/workspace_example/src/learning_topic/src/pose_subscriber.cpp new file mode 100644 index 0000000..614ab36 --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/src/pose_subscriber.cpp @@ -0,0 +1,30 @@ +// +// Created by hazyparker on 2021/12/31. +// + +#include +#include "turtlesim/Pose.h" + +void poseCallback(const turtlesim::Pose::ConstPtr& msg){ + // print message received + ROS_INFO("Turtle Pose: x: %0.6f, y: %0.6f", msg->x, msg->y); +} + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "pose_subscriber"); + + // create node handle + ros::NodeHandle n; + + // create a subscriber + // subscribe topic whose name is /turtle1/pose + // write callback function + ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback); + + // looping, wait for callback getting data + ros::spin(); + + return 0; +} + diff --git a/Basics/workspace_example/src/learning_topic/src/velocity_publisher.cpp b/Basics/workspace_example/src/learning_topic/src/velocity_publisher.cpp new file mode 100644 index 0000000..13ce513 --- /dev/null +++ b/Basics/workspace_example/src/learning_topic/src/velocity_publisher.cpp @@ -0,0 +1,37 @@ +// +// Created by hazyparker on 2021/12/31. +// + +#include +#include + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "velocity_publisher"); + + // create node + ros::NodeHandle n; + + // create a publisher + ros::Publisher turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); + + // set loop rate + ros::Rate loop_rate(10); + + while(ros::ok()){ + // init msg Twist + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + + // publish message + turtle_vel_pub.publish(vel_msg); + ROS_INFO("publish turtle velocity command[%0.2f m/s, %0.2f rad/s]", + vel_msg.linear.x, vel_msg.angular.z); + + // set delay + loop_rate.sleep(); + } + + return 0; +} \ No newline at end of file -- Gitee

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fbWakz@rZPzO6=RZib?eZ@d3)dmno4l{`&s_;9n9b literal 0 HcmV?d00001 diff --git a/Basics/test2_ws/src/learning_service/CMakeLists.txt b/Basics/test2_ws/src/learning_service/CMakeLists.txt new file mode 100644 index 0000000..0976720 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(learning_service) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_service +# CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/learning_service.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/learning_service_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +add_executable(turtle_spawn src/turtle_spawn.cpp) +target_link_libraries(turtle_spawn ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_service.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Basics/test2_ws/src/learning_service/package.xml b/Basics/test2_ws/src/learning_service/package.xml new file mode 100644 index 0000000..8f9efe5 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/package.xml @@ -0,0 +1,74 @@ + + + learning_service + 0.0.0 + The learning_service package + + + + + hazyparker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + + + + + + + + diff --git a/Basics/test2_ws/src/learning_service/src/turtle_spawn.cpp b/Basics/test2_ws/src/learning_service/src/turtle_spawn.cpp new file mode 100644 index 0000000..a0b14b8 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/src/turtle_spawn.cpp @@ -0,0 +1,36 @@ +// +// Created by hazyparker on 2022/1/3. +// request /spawn service, type as turtle sim::Spawn + +#include +#include + +int main(int argc, char **argv){ + // init ROS node + ros::init(argc, argv, "turtle_spawn"); + + // create node handle + ros::NodeHandle n; + + // wait until service /spawn is founded + ros::service::waitForService("/spawn"); + // create a client, connecting to service /spawn + ros::ServiceClient add_turtle = n.serviceClient("/spawn"); + + // init request data + turtlesim::Spawn srv; + srv.request.x = 2.0; + srv.request.y = 2.0; + srv.request.name = "turtle2"; + + // call request service + ROS_INFO("call service to spawn turtle[x:%0.6f, y:%0.6f, name:%s]", + srv.request.x, srv.request.y, srv.request.name.c_str()); + add_turtle.call(srv); + + // show result of calling service + ROS_INFO("Spawn turtle successfully [name:%s]", srv.response.name.c_str()); + + return 0; +} + diff --git a/Basics/test2_ws/src/learning_topic/package.xml b/Basics/test2_ws/src/learning_topic/package.xml index 678469c..47d2fc9 100644 --- a/Basics/test2_ws/src/learning_topic/package.xml +++ b/Basics/test2_ws/src/learning_topic/package.xml @@ -64,6 +64,8 @@ rospy std_msgs turtlesim + message_generation + message_runtime -- Gitee From 191897657c5ee7e60a6e16aff0f8e0ac41a38941 Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Fri, 7 Jan 2022 23:48:34 +0800 Subject: [PATCH 06/11] add ros service --- Basics/ROS_basic.md | 279 +++++++++++++++++- Basics/images/service.png | Bin 0 -> 86038 bytes .../devel/include/learning_service/person.h | 123 ++++++++ .../include/learning_service/personRequest.h | 241 +++++++++++++++ .../include/learning_service/personResponse.h | 195 ++++++++++++ .../src/learning_service/CMakeLists.txt | 24 +- .../test2_ws/src/learning_service/package.xml | 3 + .../learning_service/src/person_client.cpp | 37 +++ .../learning_service/src/person_server.cpp | 35 +++ .../src/turtle_command_server.cpp | 64 ++++ .../src/learning_service/srv/Person.srv | 9 + .../src/learning_service/srv/person.srv | 9 + .../src/learning_topic/msg/Person.msg | 7 + .../learning_topic/src/person_subscriber.cpp | 2 +- 14 files changed, 1024 insertions(+), 4 deletions(-) create mode 100644 Basics/images/service.png create mode 100644 Basics/test2_ws/devel/include/learning_service/person.h create mode 100644 Basics/test2_ws/devel/include/learning_service/personRequest.h create mode 100644 Basics/test2_ws/devel/include/learning_service/personResponse.h create mode 100644 Basics/test2_ws/src/learning_service/src/person_client.cpp create mode 100644 Basics/test2_ws/src/learning_service/src/person_server.cpp create mode 100644 Basics/test2_ws/src/learning_service/src/turtle_command_server.cpp create mode 100644 Basics/test2_ws/src/learning_service/srv/Person.srv create mode 100644 Basics/test2_ws/src/learning_service/srv/person.srv create mode 100644 Basics/test2_ws/src/learning_topic/msg/Person.msg diff --git a/Basics/ROS_basic.md b/Basics/ROS_basic.md index 745ebca..b942fdb 100644 --- a/Basics/ROS_basic.md +++ b/Basics/ROS_basic.md @@ -317,8 +317,6 @@ $ source /opt/ros/melodic/setup.bash $ sh /bin/clion.sh ``` -你会发现和上面CSDN那个博主的方法不太一样，少了一步，但是问题解决了 - ### 3. make运行 先写在clion配置好的情况下运行的方法 @@ -358,6 +356,30 @@ $ sh /bin/clion.sh } ``` +首先，实例化一个`Publisher`对象： + +```cpp + ros::Publisher turtle_vel_pub; +``` + +然后在节点句柄创建完成后，定义发布话题的名称和数据类型以及队列长度： + +```cpp + // create a publisher + // publish topic named /turtle1/cmd_vel + // message type defined as geometry_msgs::Twist + turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); +``` + +最后定义消息，发送： + +```cpp + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + turtle_vel_pub.publish(vel_msg); +``` + ## 订阅者的编程实现 * 初始化ROS节点 @@ -631,3 +653,256 @@ add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) ## 服务器Server的编程实现 +$$ +Client(Terminal)\overset{Request}{\underset{Response}{\longleftrightarrow}}Service\overset{Request}{\underset{Response}{\longleftrightarrow}}Server +$$ + + + +* Client发布request来控制Server +* Server接收指令，并且完成指令的发送 +* 针对服务的标准定义，Trigger，`std_srvs::Trigger`，是一个服务数据类型 + +过程实现如下： + +* 创建ROS节点 +* 创建节点句柄 +* 创建服务端，并注册回调函数`ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback);` +* `commandCallback`是回调函数 +* 创建Publisher，发布`/turtle1/cmd_vel`的消息 +* 如果收到了请求，触发了回调函数，向下进行；否则，循环等待回调函数； +* 回调函数中改变标记位的bool值，然后发送反馈信息 + +### 1. 回调函数定义 + +```cpp +bool commandCallback(std_srvs::Trigger::Request &req, + std_srvs::Trigger::Response &res){ + // use as flag + pubCommand = !pubCommand; + + // show request data + ROS_INFO("publish turtle velocity command [%s]", pubCommand == true? "yes":"no"); + + // set feedback data + res.success = true; + res.message = "Changed turtle command state..."; + + return true; +} +``` + +注意`std_srv/Trigger`的结构，可以使用`rossrv show std_srvs/Trigger`命令查看： + +```shell +--- +bool success +string message +``` + +可以看到包含两个数据，在这里`Request`没用到，因为只是发送，没有请求； + +### 2. Server + +```cpp + // create a server named /turtle_command + // define callback function "commandCallback" + ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback); +``` + +### 3. make + +在这里详细地写一遍； + +首先打开ros： + +```shell +$ roscore +``` + +其次进行编译（切换到工作空间根目录）： + +```shell +$ cd xxx +$ catkin_make +``` + +然后**更新环境变量**： + +```shell +$ source devel/setup.bash +``` + +如果在`.bashrc`里修改过了，就很方便； + +并且运行相关节点，比如这个示例用的是`turtle`： + +```shell +$ rosrun turtlesim turtlesim_node +``` + +最后运行相关功能包里面编译生成的可执行文件 + +```shell +$ rosrun [package name] [exe name] +``` + +## 服务数据的定义和使用 + +比如`spin()`和`Trigger`，就是服务数据的类型； + +可以回想`.msg`的定义； +$$ +Client(Terminal)\overset{Request}{\underset{Response}{\longleftrightarrow}}Service\overset{Request}{\underset{Response}{\longleftrightarrow}}Server +$$ + +### 1. 自定义服务数据 + +**首先定义`srv`文件** + +由于数据分为`request`和`response`两部分，需要用`---`分隔 + +首先在功能包的目录下新建`srv`文件夹； + +其次新建`srv`文件 + +```shell +$ touch Person.srv +``` + +最后编辑`srv`文件 + +**在`package.xml`文件中添加功能包依赖** + +在这里添加两个动态产生`message`的功能包： + +```xml +message_generation +message_runtime +``` + +**在`CMakeList.txt`中添加编译选项** + +首先，将`message_generation`添加到找包中： + +```cmake +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + turtlesim + message_generation +) +``` + +其次，添加服务文件 + +```cmake +add_service_files(FILES [filename]) +generate_messages(DEPENDENCIES std_msgs) # create .h file +``` + +最后在`catkin_package`中添加`message_runtime`的运行依赖 + +```cmake +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES learning_topic + CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime +# DEPENDS system_lib +) +``` + +**编译** + +```shell +$ catkin_make +``` + +之后在`devel/include/pkg`里面会生成`Person.h`，里面写了详细的调用方法；还生成了两个request和response的头文件； + +**ERROR Recording!** + +生成的`srv`在编译之后，在`devel/include/package_name`里生成`.h`头文件； + +但是在`.cpp`文件里，`#include "package_name/Person.h"`报错； + +我打开一看，发现功能包的src下面的include里面确实一个文件没有，但是`devel/include/package_name`里有`.h`头文件；而且另一个功能包完全可以找到文件； + +最后发现新建的功能包少了`.catkin`，因为在clion配置时，我的`CMake Options`写成了： + + `DCATKIN_DEVEL_PREFIX:PATH=/devel` + +实际上却是： + + `-DCATKIN_DEVEL_PREFIX:PATH=/devel`，少了个`-` + +太头疼了这个bug...比对了好久 + +**CMakeList** + +添加动态生成cpp的依赖 + +```cmake +add_executable(person_client src/person_client.cpp) +target_link_libraries(person_client ${catkin_LIBRARIES}) +add_dependencies(person_client ${PROJECT_NAME}_gencpp) + +add_executable(person_server src/person_server.cpp) +target_link_libraries(person_server ${catkin_LIBRARIES}) +add_dependencies(person_server ${PROJECT_NAME}_gencpp) +``` + +### 2. Client and Server + +Client: + +```cpp + // wait for service "/show_person" + // then create a new client, connect it + ros::service::waitForService("/show_person"); + ros::ServiceClient person_client = n.serviceClient("/show_person"); + + // init request data of learning_service::Person + learning_service::Person srv; + srv.request.name = "Tom"; + srv.request.age = 20; + srv.request.sex = learning_service::Person::Request::male; + + // call request + ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]", + srv.request.name.c_str(), srv.request.age, srv.request.sex); + person_client.call(srv); + + // show calling result + ROS_INFO("show person result: %s", srv.response.result.c_str()); +``` + +Server: + +```cpp + // create a server named "/show_person" + // define callback function personCallback + ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback); + + // loop, waiting for callback function + ROS_INFO("ready to show person information"); + ros::spin(); +``` + +### 3. make + +```shell +$ catkin_make +``` + +要注意环境变量 + +```shell +$ rosrun learning_service person_client +$ rosrun learning_service person_server +``` + +![service](images/service.png) + diff --git a/Basics/images/service.png b/Basics/images/service.png new file mode 100644 index 0000000000000000000000000000000000000000..a051c414e5886b15d0bd21cb5d110241ba4ece85 GIT binary patch literal 86038 zcmV)`Kz_f8P)ZgXgFbngSdJ^%n907*naRCt{1 zy?2~kS9$;cKIfL{GrKd}i?r%m^Rmz!C6rJ?2_=+JLJ2Qs=$E?!C6rJ?2_=+JLJ1}O?}O)gxSogdJd`)&5Ec@o(2%-B z3VB)il=5&~cLE;*q>xBmA`qjl?lB+tkVAXOr|lu7z%X96f)HO75xodMFp>S;% z#{+5T80YqWe9`dYm3Il39tzhP=}$WP?@1pop@b6t@S&8#b{qtPP$-B$;KR^|;wx;& z!OB@=GC5r3pc@8amhZER#fM^)PuFxnjq;__IZz&&ZXkqW%!xhpGioGa+e0aZ=auH$ zC0uMMY^y-t_RsvB4>M;kqF^)dq2KNcrnYngi8;Pd}gSR8{sgaQhzF; zgc2?g9M>h;KZukDOBOGpwzh^qFbF^{o29+IokNF@qTDp)Vq#3X&@1l_iF*&W(1UU~n4LV4sZ8`~3@0Tc5N#2M`5^W0xavd%7 zIaO<AW$A41s7hu3h$zEm+*%Q&-1Wthe$L`d07l8C1R3y zc_>|nM_*q*sZ<8T)Qd({Uo5_GBs76V2 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Request; +typedef personResponse Response; +Request request; +Response response; + +typedef Request RequestType; +typedef Response ResponseType; + +}; // struct person +} // namespace learning_service + + +namespace ros +{ +namespace service_traits +{ + + +template<> +struct MD5Sum< ::learning_service::person > { + static const char* value() + { + return "c198113e7dd9cc5c9fd5f271c8479b39"; + } + + static const char* value(const ::learning_service::person&) { return value(); } +}; + +template<> +struct DataType< ::learning_service::person > { + static const char* value() + { + return "learning_service/person"; + } + + static const char* value(const ::learning_service::person&) { return value(); } +}; + + +// service_traits::MD5Sum< ::learning_service::personRequest> should match +// service_traits::MD5Sum< ::learning_service::person > +template<> +struct MD5Sum< ::learning_service::personRequest> +{ + static const char* value() + { + return MD5Sum< ::learning_service::person >::value(); + } + static const char* value(const ::learning_service::personRequest&) + { + return value(); + } +}; + +// service_traits::DataType< ::learning_service::personRequest> should match +// service_traits::DataType< ::learning_service::person > +template<> +struct DataType< ::learning_service::personRequest> +{ + static const char* value() + { + return DataType< ::learning_service::person >::value(); + } + static const char* value(const ::learning_service::personRequest&) + { + return value(); + } +}; + +// service_traits::MD5Sum< ::learning_service::personResponse> should match +// service_traits::MD5Sum< ::learning_service::person > +template<> +struct MD5Sum< ::learning_service::personResponse> +{ + static const char* value() + { + return MD5Sum< ::learning_service::person >::value(); + } + static const char* value(const ::learning_service::personResponse&) + { + return value(); + } +}; + +// service_traits::DataType< ::learning_service::personResponse> should match +// service_traits::DataType< ::learning_service::person > +template<> +struct DataType< ::learning_service::personResponse> +{ + static const char* value() + { + return DataType< ::learning_service::person >::value(); + } + static const char* value(const ::learning_service::personResponse&) + { + return value(); + } +}; + +} // namespace service_traits +} // namespace ros + +#endif // LEARNING_SERVICE_MESSAGE_PERSON_H diff --git a/Basics/test2_ws/devel/include/learning_service/personRequest.h b/Basics/test2_ws/devel/include/learning_service/personRequest.h new file mode 100644 index 0000000..ca722c0 --- /dev/null +++ b/Basics/test2_ws/devel/include/learning_service/personRequest.h @@ -0,0 +1,241 @@ +// Generated by gencpp from file learning_service/personRequest.msg +// DO NOT EDIT! + + +#ifndef LEARNING_SERVICE_MESSAGE_PERSONREQUEST_H +#define LEARNING_SERVICE_MESSAGE_PERSONREQUEST_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace learning_service +{ +template +struct personRequest_ +{ + typedef personRequest_ Type; + + personRequest_() + : name() + , age(0) + , sex(0) { + } + personRequest_(const ContainerAllocator& _alloc) + : name(_alloc) + , age(0) + , sex(0) { + (void)_alloc; + } + + + + typedef std::basic_string, typename ContainerAllocator::template rebind::other > _name_type; + _name_type name; + + typedef uint8_t _age_type; + _age_type age; + + typedef uint8_t _sex_type; + _sex_type sex; + + + +// reducing the odds to have name collisions with Windows.h +#if defined(_WIN32) && defined(unknown) + #undef unknown +#endif +#if defined(_WIN32) && defined(male) + #undef male +#endif +#if defined(_WIN32) && defined(female) + #undef female +#endif + + enum { + unknown = 0u, + male = 1u, + female = 2u, + }; + + + typedef boost::shared_ptr< ::learning_service::personRequest_ > Ptr; + typedef boost::shared_ptr< ::learning_service::personRequest_ const> ConstPtr; + +}; // struct personRequest_ + +typedef ::learning_service::personRequest_ > personRequest; + +typedef boost::shared_ptr< ::learning_service::personRequest > personRequestPtr; +typedef boost::shared_ptr< ::learning_service::personRequest const> personRequestConstPtr; + +// constants requiring out of line definition + + + + + + + + + +template +std::ostream& operator<<(std::ostream& s, const ::learning_service::personRequest_ & v) +{ +ros::message_operations::Printer< ::learning_service::personRequest_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::learning_service::personRequest_ & lhs, const ::learning_service::personRequest_ & rhs) +{ + return lhs.name == rhs.name && + lhs.age == rhs.age && + lhs.sex == rhs.sex; +} + +template +bool operator!=(const ::learning_service::personRequest_ & lhs, const ::learning_service::personRequest_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace learning_service + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsFixedSize< ::learning_service::personRequest_ > + : FalseType + { }; + +template +struct IsFixedSize< ::learning_service::personRequest_ const> + : FalseType + { }; + +template +struct IsMessage< ::learning_service::personRequest_ > + : TrueType + { }; + +template +struct IsMessage< ::learning_service::personRequest_ const> + : TrueType + { }; + +template +struct HasHeader< ::learning_service::personRequest_ > + : FalseType + { }; + +template +struct HasHeader< ::learning_service::personRequest_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::learning_service::personRequest_ > +{ + static const char* value() + { + return "b3f7ec37d11629ec3010e27635cf22a9"; + } + + static const char* value(const ::learning_service::personRequest_&) { return value(); } + static const uint64_t static_value1 = 0xb3f7ec37d11629ecULL; + static const uint64_t static_value2 = 0x3010e27635cf22a9ULL; +}; + +template +struct DataType< ::learning_service::personRequest_ > +{ + static const char* value() + { + return "learning_service/personRequest"; + } + + static const char* value(const ::learning_service::personRequest_&) { return value(); } +}; + +template +struct Definition< ::learning_service::personRequest_ > +{ + static const char* value() + { + return "string name\n" +"uint8 age\n" +"uint8 sex\n" +"\n" +"uint8 unknown = 0\n" +"uint8 male = 1\n" +"uint8 female = 2\n" +; + } + + static const char* value(const ::learning_service::personRequest_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::learning_service::personRequest_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.name); + stream.next(m.age); + stream.next(m.sex); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct personRequest_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::learning_service::personRequest_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::learning_service::personRequest_& v) + { + s << indent << "name: "; + Printer, typename ContainerAllocator::template rebind::other > >::stream(s, indent + " ", v.name); + s << indent << "age: "; + Printer::stream(s, indent + " ", v.age); + s << indent << "sex: "; + Printer::stream(s, indent + " ", v.sex); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // LEARNING_SERVICE_MESSAGE_PERSONREQUEST_H diff --git a/Basics/test2_ws/devel/include/learning_service/personResponse.h b/Basics/test2_ws/devel/include/learning_service/personResponse.h new file mode 100644 index 0000000..fbe5095 --- /dev/null +++ b/Basics/test2_ws/devel/include/learning_service/personResponse.h @@ -0,0 +1,195 @@ +// Generated by gencpp from file learning_service/personResponse.msg +// DO NOT EDIT! + + +#ifndef LEARNING_SERVICE_MESSAGE_PERSONRESPONSE_H +#define LEARNING_SERVICE_MESSAGE_PERSONRESPONSE_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace learning_service +{ +template +struct personResponse_ +{ + typedef personResponse_ Type; + + personResponse_() + : result() { + } + personResponse_(const ContainerAllocator& _alloc) + : result(_alloc) { + (void)_alloc; + } + + + + typedef std::basic_string, typename ContainerAllocator::template rebind::other > _result_type; + _result_type result; + + + + + + typedef boost::shared_ptr< ::learning_service::personResponse_ > Ptr; + typedef boost::shared_ptr< ::learning_service::personResponse_ const> ConstPtr; + +}; // struct personResponse_ + +typedef ::learning_service::personResponse_ > personResponse; + +typedef boost::shared_ptr< ::learning_service::personResponse > personResponsePtr; +typedef boost::shared_ptr< ::learning_service::personResponse const> personResponseConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::learning_service::personResponse_ & v) +{ +ros::message_operations::Printer< ::learning_service::personResponse_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::learning_service::personResponse_ & lhs, const ::learning_service::personResponse_ & rhs) +{ + return lhs.result == rhs.result; +} + +template +bool operator!=(const ::learning_service::personResponse_ & lhs, const ::learning_service::personResponse_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace learning_service + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsFixedSize< ::learning_service::personResponse_ > + : FalseType + { }; + +template +struct IsFixedSize< ::learning_service::personResponse_ const> + : FalseType + { }; + +template +struct IsMessage< ::learning_service::personResponse_ > + : TrueType + { }; + +template +struct IsMessage< ::learning_service::personResponse_ const> + : TrueType + { }; + +template +struct HasHeader< ::learning_service::personResponse_ > + : FalseType + { }; + +template +struct HasHeader< ::learning_service::personResponse_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::learning_service::personResponse_ > +{ + static const char* value() + { + return "c22f2a1ed8654a0b365f1bb3f7ff2c0f"; + } + + static const char* value(const ::learning_service::personResponse_&) { return value(); } + static const uint64_t static_value1 = 0xc22f2a1ed8654a0bULL; + static const uint64_t static_value2 = 0x365f1bb3f7ff2c0fULL; +}; + +template +struct DataType< ::learning_service::personResponse_ > +{ + static const char* value() + { + return "learning_service/personResponse"; + } + + static const char* value(const ::learning_service::personResponse_&) { return value(); } +}; + +template +struct Definition< ::learning_service::personResponse_ > +{ + static const char* value() + { + return "string result\n" +; + } + + static const char* value(const ::learning_service::personResponse_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::learning_service::personResponse_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.result); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct personResponse_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::learning_service::personResponse_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::learning_service::personResponse_& v) + { + s << indent << "result: "; + Printer, typename ContainerAllocator::template rebind::other > >::stream(s, indent + " ", v.result); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // LEARNING_SERVICE_MESSAGE_PERSONRESPONSE_H diff --git a/Basics/test2_ws/src/learning_service/CMakeLists.txt b/Basics/test2_ws/src/learning_service/CMakeLists.txt index 0976720..38ee61f 100644 --- a/Basics/test2_ws/src/learning_service/CMakeLists.txt +++ b/Basics/test2_ws/src/learning_service/CMakeLists.txt @@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS rospy std_msgs turtlesim + message_generation ) ## System dependencies are found with CMake's conventions @@ -75,6 +76,15 @@ find_package(catkin REQUIRED COMPONENTS # geometry_msgs# std_msgs # ) +add_service_files( + FILES Person.srv + FILES person.srv +) + +generate_messages( + DEPENDENCIES std_msgs +) + ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ @@ -107,7 +117,7 @@ find_package(catkin REQUIRED COMPONENTS catkin_package( # INCLUDE_DIRS include # LIBRARIES learning_service -# CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim + CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime # DEPENDS system_lib ) @@ -155,6 +165,18 @@ include_directories( add_executable(turtle_spawn src/turtle_spawn.cpp) target_link_libraries(turtle_spawn ${catkin_LIBRARIES}) +add_executable(turtle_command_server src/turtle_command_server.cpp) +target_link_libraries(turtle_command_server ${catkin_LIBRARIES}) + +add_executable(person_client src/person_client.cpp) +target_link_libraries(person_client ${catkin_LIBRARIES}) +add_dependencies(person_client ${PROJECT_NAME}_gencpp) + +add_executable(person_server src/person_server.cpp) +target_link_libraries(person_server ${catkin_LIBRARIES}) +add_dependencies(person_server ${PROJECT_NAME}_gencpp) + + ############# ## Install ## ############# diff --git a/Basics/test2_ws/src/learning_service/package.xml b/Basics/test2_ws/src/learning_service/package.xml index 8f9efe5..4c8f54e 100644 --- a/Basics/test2_ws/src/learning_service/package.xml +++ b/Basics/test2_ws/src/learning_service/package.xml @@ -65,6 +65,9 @@ std_msgs turtlesim + message_generation + message_runtime + diff --git a/Basics/test2_ws/src/learning_service/src/person_client.cpp b/Basics/test2_ws/src/learning_service/src/person_client.cpp new file mode 100644 index 0000000..9676e1d --- /dev/null +++ b/Basics/test2_ws/src/learning_service/src/person_client.cpp @@ -0,0 +1,37 @@ +// +// Created by hazyparker on 2022/1/7. +// request service /show_person, type defined as learning_service::Person + +#include +#include "learning_service/Person.h" + +int main(int argc, char **argv){ + // init ros node + ros::init(argc, argv, "person_client"); + + // create ros node + ros::NodeHandle n; + + // wait for service "/show_person" + // then create a new client, connect it + ros::service::waitForService("/show_person"); + ros::ServiceClient person_client = n.serviceClient("/show_person"); + + // init request data of learning_service::Person + learning_service::Person srv; + srv.request.name = "Tom"; + srv.request.age = 20; + srv.request.sex = learning_service::Person::Request::male; + + // call request + ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]", + srv.request.name.c_str(), srv.request.age, srv.request.sex); + person_client.call(srv); + + // show calling result + ROS_INFO("show person result: %s", srv.response.result.c_str()); + + return 0; +} + + diff --git a/Basics/test2_ws/src/learning_service/src/person_server.cpp b/Basics/test2_ws/src/learning_service/src/person_server.cpp new file mode 100644 index 0000000..e6cc943 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/src/person_server.cpp @@ -0,0 +1,35 @@ +// +// Created by hazyparker on 2022/1/7. +// + +#include +#include "learning_service/Person.h" + +bool personCallback(learning_service::Person::Request &req, + learning_service::Person::Response &res){ + // show request data + ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex); + + // set feedback data + res.result = "data flow succeed!"; + + return true; +} + +int main(int argc, char **argv){ + // ros node init + ros::init(argc, argv, "person_server"); + + // create ros node + ros::NodeHandle n; + + // create a server named "/show_person" + // define callback function personCallback + ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback); + + // loop, waiting for callback function + ROS_INFO("ready to show person information"); + ros::spin(); + + return 0; +} diff --git a/Basics/test2_ws/src/learning_service/src/turtle_command_server.cpp b/Basics/test2_ws/src/learning_service/src/turtle_command_server.cpp new file mode 100644 index 0000000..c6a2d94 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/src/turtle_command_server.cpp @@ -0,0 +1,64 @@ +// +// Created by hazyparker on 2022/1/7. +// run /turtle_command service, type defined as std_srvs/Trigger + +#include +#include +#include + +ros::Publisher turtle_vel_pub; +bool pubCommand = false; + +bool commandCallback(std_srvs::Trigger::Request &req, + std_srvs::Trigger::Response &res){ + // use as flag + pubCommand = !pubCommand; + + // show request data + ROS_INFO("publish turtle velocity command [%s]", pubCommand == true? "yes":"no"); + + // set feedback data + res.success = true; + res.message = "Changed turtle command state..."; + + return true; +} + +int main(int argc, char **argv){ + // ros node init + ros::init(argc, argv, "turtle_command_server"); + + // create ros handle + ros::NodeHandle n; + + // create a server named /turtle_command + // define callback function "commandCallback" + ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback); + + // create a publisher + // publish topic named /turtle1/cmd_vel + // message type defined as geometry_msgs::Twist + turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10); + + // loop, waiting for callback function + ROS_INFO("ready to receive turtle command"); + ros::Rate loop_rate(10); + + while(ros::ok()){ + // check callback queue for new message + ros::spinOnce(); + + // if pubCommand = true + if(pubCommand){ + geometry_msgs::Twist vel_msg; + vel_msg.linear.x = 0.5; + vel_msg.angular.z = 0.2; + turtle_vel_pub.publish(vel_msg); + } + + // set loop frequency + loop_rate.sleep(); + } + + return 0; +} diff --git a/Basics/test2_ws/src/learning_service/srv/Person.srv b/Basics/test2_ws/src/learning_service/srv/Person.srv new file mode 100644 index 0000000..06c1826 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/srv/Person.srv @@ -0,0 +1,9 @@ +string name +uint8 age +uint8 sex + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 +--- +string result diff --git a/Basics/test2_ws/src/learning_service/srv/person.srv b/Basics/test2_ws/src/learning_service/srv/person.srv new file mode 100644 index 0000000..6a4fa16 --- /dev/null +++ b/Basics/test2_ws/src/learning_service/srv/person.srv @@ -0,0 +1,9 @@ +string name +uint8 age +uint8 sex + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 +--- +string result \ No newline at end of file diff --git a/Basics/test2_ws/src/learning_topic/msg/Person.msg b/Basics/test2_ws/src/learning_topic/msg/Person.msg new file mode 100644 index 0000000..9e8a732 --- /dev/null +++ b/Basics/test2_ws/src/learning_topic/msg/Person.msg @@ -0,0 +1,7 @@ +string name +uint8 sex +uint8 age + +uint8 unknown = 0 +uint8 male = 1 +uint8 female = 2 diff --git a/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp b/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp index ac75e42..b240cbe 100644 --- a/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp +++ b/Basics/test2_ws/src/learning_topic/src/person_subscriber.cpp @@ -3,7 +3,7 @@ // Subscribe topic /person_info, type defined as learning_topic::Person #include -#include "learning_topic//Person.h" +#include "learning_topic/Person.h" void personInfoCallback(const learning_topic::Person::ConstPtr &msg){ // while message received, step to callback function -- Gitee From 063eceeb569585cec531b42eea8ba61df200c875 Mon Sep 17 00:00:00 2001 From: hazyparker_linux <2559272883@qq.com> Date: Sat, 8 Jan 2022 15:48:48 +0800 Subject: [PATCH 07/11] add parameter_config.cpp --- Basics/ROS_basic.md | 119 ++++++++++ Basics/images/echo.png | Bin 0 -> 69458 bytes Basics/images/frame.png | Bin 0 -> 84069 bytes Basics/images/rviz.png | Bin 0 -> 140220 bytes .../src/learning_parameter/CMakeLists.txt | 209 ++++++++++++++++++ .../src/learning_parameter/package.xml | 68 ++++++ .../src/parameter_config.cpp | 49 ++++ .../test2_ws/src/learning_tf/CMakeLists.txt | 207 +++++++++++++++++ Basics/test2_ws/src/learning_tf/package.xml | 71 ++++++ 9 files changed, 723 insertions(+) create mode 100644 Basics/images/echo.png create mode 100644 Basics/images/frame.png create mode 100644 Basics/images/rviz.png create mode 100644 Basics/test2_ws/src/learning_parameter/CMakeLists.txt create mode 100644 Basics/test2_ws/src/learning_parameter/package.xml create mode 100644 Basics/test2_ws/src/learning_parameter/src/parameter_config.cpp create mode 100644 Basics/test2_ws/src/learning_tf/CMakeLists.txt create mode 100644 Basics/test2_ws/src/learning_tf/package.xml diff --git a/Basics/ROS_basic.md b/Basics/ROS_basic.md index b942fdb..25352ea 100644 --- a/Basics/ROS_basic.md +++ b/Basics/ROS_basic.md @@ -854,6 +854,8 @@ target_link_libraries(person_server ${catkin_LIBRARIES}) add_dependencies(person_server ${PROJECT_NAME}_gencpp) ``` +注意此处和话题消息添加的依赖不一样。 + ### 2. Client and Server Client: @@ -906,3 +908,120 @@ $ rosrun learning_service person_server ![service](images/service.png) +## 参数的使用与编程方法 + +参数模型：全局字典，保存一些全局配置参数；简单理解为全局变量的存储空间； + +创建新的功能包： + +```shell +$ catkin_create_pkg learning_parameter roscpp rospy std_srvs +``` + +### 1. `rosparam` + +使用`rosparam`列出配置参数： + +```shell +$ rosparam list +``` + +获得配置参数： + +```shell +$ rosparam get [param] +``` + +修改配置参数，使用service更新： + +```shell +$ rosparam set [param] [value] +$ rosservice call /clear "{}" +``` + +保存参数（保存到当前终端的路径）： + +```shell +$ rosparam dump [file name].yaml +``` + +加载配置文件： + +```shell +$ rosparam load [file name].yaml +``` + +删除参数： + +```shell +$ rosparam delete [param name] +``` + +### 2. 编程实现 + +```cpp + // get background RGB param + int red = 0, green = 0, blue = 0; + ros::param::get("/turtlesim/background_r", red); + ros::param::get("/turtlesim/background_g", green); + ros::param::get("/turtlesim/background_b", blue); +``` + +## ROS中的坐标系管理系统 + +### 1. `tf`功能包 + +相当于封装了底层的矩阵变换； + +* 广播TF变换 +* 监听TF变换 + +安装示例功能包： + +```shell +$ sudo apt-get install ros-melodic-turtle-tf +``` + +一般已经安装（都是desktop-full）； + +启动海龟跟随脚本： + +```shell +$ roslaunch turtle_tf turtle_tf_demo.launch +``` + +三种可视化方式：view_frames，echo，rviz + +**使用`view_frames`查看坐标系连接：** + +```shell +$ rosrun tf view_frames +``` + + + +![frame](images/frame.png) + +* world是世界坐标系 +* 可以查看tf是不是连通，坐标系之间的关系是不是建立成功 + +**使用`rosrun tf tf_echo [axis1] [axis2]`查看两个坐标系之间的变换关系：** + +```shell +$ rosrun tf tf_echo turtle1 turtle2 +``` + +![echo](images/echo.png) + +* 内容包含平移和旋转矩阵 +* 旋转矩阵用了三种方式描述，有四元数和普通的旋转向量 + +**使用RViz：** + +```shell +$ rosrun rviz rviz -d `rospack find turtle_tf` /rviz/turtle_rviz.rviz +``` + +![rviz](images/rviz.png) + +### 2. 广播与监听的编程实现 diff --git a/Basics/images/echo.png b/Basics/images/echo.png new file mode 100644 index 0000000000000000000000000000000000000000..f4b360a9164e89bd647a1bac382279305d5b59ae GIT binary patch literal 69458 zcmb5W1yEeu(l(p~3zFb6cyM>u;0*5W?(Ul4PH>0d?mB32cXxMpho78tuAKYb`&Ru^ 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