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Merge pull request #3 from SemvdH/object_detection

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Finished object detection nodes
This commit is contained in:
SemvdH
2023-04-24 12:41:12 +02:00
committed by GitHub
parent fd24369833 2103260f0f
commit 0c944ce3b6
169 changed files with 20319 additions and 968 deletions
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327
.gitignore vendored
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# Created by https://www.toptal.com/developers/gitignore/api/ros2,ros,cmake,c++,python,visualstudiocode,vim
# Edit at https://www.toptal.com/developers/gitignore?templates=ros2,ros,cmake,c++,python,visualstudiocode,vim
### C++ ###
# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
### CMake ###
CMakeLists.txt.user
CMakeCache.txt
CMakeFiles
CMakeScripts
Testing
Makefile
cmake_install.cmake
install_manifest.txt
compile_commands.json
CTestTestfile.cmake
_deps
### CMake Patch ###
# External projects
*-prefix/
### Python ###
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
pip-delete-this-directory.txt
# Unit test / coverage reports
htmlcov/
.tox/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
*.py,cover
.hypothesis/
.pytest_cache/
cover/
# Translations
*.mo
*.pot
# Django stuff:
*.log
local_settings.py
db.sqlite3
db.sqlite3-journal
# Flask stuff:
instance/
.webassets-cache
# Scrapy stuff:
.scrapy
# Sphinx documentation
docs/_build/
# PyBuilder
.pybuilder/
target/
# Jupyter Notebook
.ipynb_checkpoints
# IPython
profile_default/
ipython_config.py
# pyenv
# For a library or package, you might want to ignore these files since the code is
# intended to run in multiple environments; otherwise, check them in:
# .python-version
# pipenv
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
# However, in case of collaboration, if having platform-specific dependencies or dependencies
# having no cross-platform support, pipenv may install dependencies that don't work, or not
# install all needed dependencies.
#Pipfile.lock
# poetry
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
# This is especially recommended for binary packages to ensure reproducibility, and is more
# commonly ignored for libraries.
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
#poetry.lock
# pdm
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
#pdm.lock
# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
# in version control.
# https://pdm.fming.dev/#use-with-ide
.pdm.toml
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
__pypackages__/
# Celery stuff
celerybeat-schedule
celerybeat.pid
# SageMath parsed files
*.sage.py
# Environments
.env
.venv
env/
venv/
ENV/
env.bak/
venv.bak/
# Spyder project settings
.spyderproject
.spyproject
# Rope project settings
.ropeproject
# mkdocs documentation
/site
# mypy
.mypy_cache/
.dmypy.json
dmypy.json
# Pyre type checker
.pyre/
# pytype static type analyzer
.pytype/
# Cython debug symbols
cython_debug/
# PyCharm
# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
# and can be added to the global gitignore or merged into this file. For a more nuclear
# option (not recommended) you can uncomment the following to ignore the entire idea folder.
#.idea/
### Python Patch ###
# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
poetry.toml
# ruff
.ruff_cache/
### ROS ###
devel/
logs/
bin/
msg_gen/
srv_gen/
msg/*Action.msg
msg/*ActionFeedback.msg
msg/*ActionGoal.msg
msg/*ActionResult.msg
msg/*Feedback.msg
msg/*Goal.msg
msg/*Result.msg
msg/_*.py
build_isolated/
devel_isolated/
# Generated by dynamic reconfigure
*.cfgc
/cfg/cpp/
/cfg/*.py
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# qcreator stuff
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
/planning/cfg
/planning/docs
/planning/src
*~
# Emacs
.#*
# Catkin custom files
CATKIN_IGNORE
### ROS2 ###
install/
log/
# Ignore generated docs
# eclipse stuff
# qcreator stuff
# Emacs
# Colcon custom files
COLCON_IGNORE
AMENT_IGNORE
### Vim ###
# Swap
[._]*.s[a-v][a-z]
!*.svg # comment out if you don't need vector files
[._]*.sw[a-p]
[._]s[a-rt-v][a-z]
[._]ss[a-gi-z]
[._]sw[a-p]
# Session
Session.vim
Sessionx.vim
# Temporary
.netrwhist
# Auto-generated tag files
tags
# Persistent undo
[._]*.un~
### VisualStudioCode ###
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
!.vscode/extensions.json
!.vscode/*.code-snippets
# Local History for Visual Studio Code
.history/
# Built Visual Studio Code Extensions
*.vsix
### VisualStudioCode Patch ###
# Ignore all local history of files
.history
.ionide
# End of https://www.toptal.com/developers/gitignore/api/ros2,ros,cmake,c++,python,visualstudiocode,vim

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.gitmodules vendored Normal file
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[submodule "src/px4_msgs"]
path = src/px4_msgs
url = git@github.com:PX4/px4_msgs.git
[submodule "src/px4_ros_com"]
path = src/px4_ros_com
url = git@github.com:PX4/px4_ros_com.git

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.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"browse": {
"databaseFilename": "",
"limitSymbolsToIncludedHeaders": true
},
"includePath": [
"/opt/ros/humble/include/**",
"/home/ubuntu/ros2_ws/src/beacon_positioning/include/**",
"/usr/include/**",
"/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/rtls_driver/include/**",
"/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/serial_communication/include/**",
"/mnt/Homework/Avans/AFSTUDEERSTAGE/terabee_api/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "c11",
"cppStandard": "c++14",
"configurationProvider": "ms-vscode.cmake-tools"
}
],
"version": 4
}

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.vscode/settings.json vendored Normal file
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{
"ros.distro": "humble",
"files.associations": {
"chrono": "cpp",
"array": "cpp",
"atomic": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"codecvt": "cpp",
"compare": "cpp",
"concepts": "cpp",
"condition_variable": "cpp",
"csignal": "cpp",
"cstdint": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"deque": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"functional": "cpp",
"future": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"memory": "cpp",
"mutex": "cpp",
"new": "cpp",
"numbers": "cpp",
"numeric": "cpp",
"optional": "cpp",
"ostream": "cpp",
"ratio": "cpp",
"semaphore": "cpp",
"shared_mutex": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"stop_token": "cpp",
"streambuf": "cpp",
"string": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"thread": "cpp",
"type_traits": "cpp",
"tuple": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"utility": "cpp",
"variant": "cpp"
},
"python.autoComplete.extraPaths": [
"/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
"/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"cmake.sourceDirectory": "${workspaceFolder}/src/beacon_positioning"
}

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my_package_py/my_package_py/__init__.py → TerabeeLog.log
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build_beacons.sh Executable file
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colcon build --packages-select beacon_positioning
. install/setup.bash

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build_log_13-04-23-1012.log Normal file
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38
cpp_pubsub/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(cpp_pubsub)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs)
add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)
install(TARGETS
talker
listener
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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cpp_pubsub/src/publisher_member_function.cpp
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@@ -1,56 +0,0 @@
// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <chrono>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using namespace std::chrono_literals;
/* This example creates a subclass of Node and uses std::bind() to register a
* member function as a callback from the timer. */
class MinimalPublisher : public rclcpp::Node
{
public:
MinimalPublisher()
: Node("minimal_publisher"), count_(0)
{
publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&MinimalPublisher::timer_callback, this));
}
private:
void timer_callback()
{
auto message = std_msgs::msg::String();
message.data = "Hello, world! " + std::to_string(count_++);
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
publisher_->publish(message);
}
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
size_t count_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<MinimalPublisher>());
rclcpp::shutdown();
return 0;
}

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cpp_pubsub/src/subscriber_member_function.cpp
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@@ -1,45 +0,0 @@
// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using std::placeholders::_1;
class MinimalSubscriber : public rclcpp::Node
{
public:
MinimalSubscriber()
: Node("minimal_subscriber")
{
subscription_ = this->create_subscription<std_msgs::msg::String>(
"topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
}
private:
void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
{
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
}
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<MinimalSubscriber>());
rclcpp::shutdown();
return 0;
}

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drone_sensors/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(drone_sensors)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
# add executable so that the node can be run with ros2 run
add_executable(height_sensor src/height_sensor.cpp)
ament_target_dependencies(height_sensor rclcpp std_msgs)
# add install targets section so ros2 run can find the executable
install(TARGETS
height_sensor
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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drone_sensors/src/height_sensor.cpp
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#include <chrono> //time measurement
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using namespace std::chrono_literals;
class HeightSensorPublisher : public rclcpp::Node
{
public:
HeightSensorPublisher() : Node("height_sensor_publisher")
{
publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&HeightSensorPublisher::timer_callback, this));
}
private:
void timer_callback()
{
auto message = std_msgs::msg::String();
message.data = "Hello heigth sensor!";
RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
publisher_->publish(message);
}
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
};
int main(int argc, char *argv[])
{
rclcpp::init(argc,argv);
rclcpp::spin(std::make_shared<HeightSensorPublisher>());
rclcpp::shutdown();
return 0;
}

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fgit.sh Executable file
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git fetch
git pull

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install_mavproxy.sh Normal file
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sudo apt-get update
sudo apt-get upgrade
sudo apt-get install python3-pip
sudo apt-get install python3-dev
sud0 apt-get install screen python3-wxgtk4.0 python-lxml
sudo pip install -U future
sudo pip install -U pyserial
sudo pip install -U dronekit
sudo pip install -U MAVProxy

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my_package/CMakeLists.txt
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@@ -1,35 +0,0 @@
cmake_minimum_required(VERSION 3.8)
project(my_package)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
add_executable(my_node src/my_node.cpp)
target_include_directories(my_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_features(my_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
install(TARGETS my_node
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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my_package/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>my_package</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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my_package/src/my_node.cpp
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@@ -1,10 +0,0 @@
#include <cstdio>
int main(int argc, char ** argv)
{
(void) argc;
(void) argv;
printf("hello world my_package package\n");
return 0;
}

6
my_package_py/my_package_py/my_node_py.py
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@@ -1,6 +0,0 @@
def main():
print('Hi from my_package_py.')
if __name__ == '__main__':
main()

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my_package_py/package.xml
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@@ -1,18 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>my_package_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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my_package_py/setup.cfg
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@@ -1,4 +0,0 @@
[develop]
script_dir=$base/lib/my_package_py
[install]
install_scripts=$base/lib/my_package_py

26
my_package_py/setup.py
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@@ -1,26 +0,0 @@
from setuptools import setup
package_name = 'my_package_py'
setup(
name=package_name,
version='0.0.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='ubuntu',
maintainer_email='ubuntu@todo.todo',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'my_node_py = my_package_py.my_node_py:main'
],
},
)

25
my_package_py/test/test_copyright.py
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@@ -1,25 +0,0 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
my_package_py/test/test_flake8.py
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@@ -1,25 +0,0 @@
# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

23
my_package_py/test/test_pep257.py
View File

@@ -1,23 +0,0 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

3
pgit.sh Executable file
View File

@@ -0,0 +1,3 @@
git add -A
git commit -a -m "$1"
git push

21
py_pubsub/package.xml
View File

@@ -1,21 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>py_pubsub</name>
<version>0.0.0</version>
<description>Example of publisher/subscriber nodes in Python</description>
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
<license>Apache License 2.0</license>
<exec_depend>rclpy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

53
py_pubsub/py_pubsub/publisher_member_function.py
View File

@@ -1,53 +0,0 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
class MinimalPublisher(Node):
def __init__(self):
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(String, 'topic', 10)
timer_period = 0.5 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
def timer_callback(self):
msg = String()
msg.data = 'Hello World: %d' % self.i
self.publisher_.publish(msg)
self.get_logger().info('Publishing: "%s"' % msg.data)
self.i += 1
def main(args=None):
rclpy.init(args=args)
minimal_publisher = MinimalPublisher()
rclpy.spin(minimal_publisher)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_publisher.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

51
py_pubsub/py_pubsub/subscriber_member_function.py
View File

@@ -1,51 +0,0 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
class MinimalSubscriber(Node):
def __init__(self):
super().__init__('minimal_subscriber')
self.subscription = self.create_subscription(
String,
'topic',
self.listener_callback,
10)
self.subscription # prevent unused variable warning
def listener_callback(self, msg):
self.get_logger().info('I heard: "%s"' % msg.data)
def main(args=None):
rclpy.init(args=args)
minimal_subscriber = MinimalSubscriber()
rclpy.spin(minimal_subscriber)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_subscriber.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()

4
py_pubsub/setup.cfg
View File

@@ -1,4 +0,0 @@
[develop]
script_dir=$base/lib/py_pubsub
[install]
install_scripts=$base/lib/py_pubsub

27
py_pubsub/setup.py
View File

@@ -1,27 +0,0 @@
from setuptools import setup
package_name = 'py_pubsub'
setup(
name=package_name,
version='0.0.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='ubuntu',
maintainer_email='ubuntu@todo.todo',
description='Example of publisher/subscriber nodes in Python',
license='Apache License 2.0',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'talker = py_pubsub.publisher_member_function:main',
'listener = py_pubsub.subscriber_member_function:main',
],
},
)

25
py_pubsub/test/test_copyright.py
View File

@@ -1,25 +0,0 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
py_pubsub/test/test_flake8.py
View File

@@ -1,25 +0,0 @@
# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

23
py_pubsub/test/test_pep257.py
View File

@@ -1,23 +0,0 @@
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

3742
script-output-14-04-23-1046.txt Normal file
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File diff suppressed because one or more lines are too long

7
source_dirs.txt Normal file
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@@ -0,0 +1,7 @@
source /opt/ros/humble/setup.bash && echo "sourced ros humble setup script"
export ROS_DOMAIN_ID=0 && echo "set ROS_DOMAIN_ID to ${ROS_DOMAIN_ID}"
source /usr/share/colcon_cd/function/colcon_cd.sh && echo "sourced colcon cd script"
export _colcon_cd_root=/opt/ros/humble/ && echo "set _colcon_cd_root to ${_colcon_cd_root}"
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash && echo "sourced colcon argcomplete script"
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && echo "set RMW_IMPLEMENTATION to ${RMW_IMPLEMENTATION}"
. ~/ros2_ws/install/setup.bash && echo "ran ROS install script from $PWD"

0
LICENSE → src/LICENSE
View File

61
src/beacon_positioning/CMakeLists.txt Normal file
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@@ -0,0 +1,61 @@
cmake_minimum_required(VERSION 3.5)
project(beacon_positioning)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(positioning_systems_api REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(beacon_positioning REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/TrackerPosition.msg" # message for tracker position
)
add_executable(tracker_position src/tracker_position.cpp)
ament_target_dependencies(tracker_position rclcpp std_msgs beacon_positioning)
target_link_libraries(tracker_position
positioning_systems_api::serial_communication
positioning_systems_api::rtls_driver
)
install(TARGETS tracker_position
DESTINATION lib/${PROJECT_NAME})
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

27
src/beacon_positioning/launch/beacon_positioning_launch.py Normal file
View File

@@ -0,0 +1,27 @@
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package="beacon_positioning",
executable="tracker_position",
name="beacon_tracker_0",
namespace="tracker0",
parameters=[
{"tracker_serial_port": "/dev/ttyUSB0"}
]
),
Node(
package="beacon_positioning",
executable="tracker_position",
name="beacon_tracker_1",
namespace="tracker1",
output="screen",
emulate_tty=True,
parameters=[
{"tracker_serial_port": "/dev/ttyUSB1"}
]
)
])

5
src/beacon_positioning/msg/TrackerPosition.msg Normal file
View File

@@ -0,0 +1,5 @@
int32 id
int64 x_pos
int64 y_pos
int64 z_pos
int64[4] anchor_distances

24
src/beacon_positioning/package.xml Normal file
View File

@@ -0,0 +1,24 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>beacon_positioning</name>
<version>0.0.0</version>
<description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
<maintainer email="semmer99@gmail.com">sem</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

183
src/beacon_positioning/src/tracker_position.cpp Normal file
View File

@@ -0,0 +1,183 @@
#include <cstdio>
#include <chrono>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "beacon_positioning/msg/tracker_position.hpp"
#include "rtls_driver/rtls_driver.hpp"
// from the example: https://github.com/Terabee/positioning_systems_api/blob/master/examples/rtls_tracker_example.cpp
#include "serial_communication/serial.hpp"
#define TRACKER_0_PORT "/dev/ttyUSB0"
#define TRACKER_1_PORT "/dev/ttyUSB1"
#define TRACKER_0_PRIORITY 0
#define TRACKER_1_PRIORITY 1
using SerialInterface = terabee::serial_communication::Serial;
using namespace std::chrono_literals;
class BeaconPositioningPublisher : public rclcpp::Node
{
public:
BeaconPositioningPublisher() : Node("beacon_positioning")
{
this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0");
std::string serial_port_name = this->get_parameter("tracker_serial_port").as_string();
RCLCPP_INFO(this->get_logger(), "serial port is %s\n", serial_port_name.c_str());
serial_port = std::make_shared<SerialInterface>("/dev/ttyUSB0");
serial_port->setBaudrate(115200);
serial_port->setTimeout(800ms);
//rtls_device = terabee::RtlsDevice(serial_port);
RCLCPP_INFO(this->get_logger(), "Opening serial port of tracker!");
serial_port->open();
if (!serial_port->isOpen())
{
RCLCPP_ERROR(this->get_logger(), "Failed to open serial port!");
return;
}
publisher_ = this->create_publisher<beacon_positioning::msg::TrackerPosition>("beacon_positioning", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
}
void setup_rtlsdevice(terabee::RtlsDevice *rtls_device, int priority, int label, int update_time, int network_id, bool long_message)
{
rtls_device->disableTrackerStream();
serial_port->flushInput();
rtls_device->setDevice(terabee::RtlsDevice::device_type::tracker, priority);
rtls_device->setLabel(label);
rtls_device->setUpdateTime(update_time);
rtls_device->setNetworkId(network_id);
if (long_message)
{
rtls_device->setTrackerMessageLong();
}
else
{
rtls_device->setTrackerMessageShort();
}
rtls_device->enableLED();
rtls_device->requestConfig();
device_configuration = rtls_device->getConfig();
rtls_device->enableTrackerStream();
RCLCPP_INFO(this->get_logger(), "Tracker configured");
}
std::shared_ptr<terabee::serial_communication::ISerial> get_serial_port()
{
return serial_port;
}
void publish(beacon_positioning::msg::TrackerPosition msg)
{
publisher_->publish(msg);
}
void set_tracker_id(int id)
{
if (id >= 0) {
tracker_id = id;
}
}
int get_tracker_id()
{
return tracker_id;
}
private:
void timer_callback()
{
// auto message = std_msgs::msg::String();
// message.data = "Hello beacons!";
// RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
// publisher_->publish(message);
}
rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the
rclcpp::Publisher<beacon_positioning::msg::TrackerPosition>::SharedPtr publisher_; // pointer to publisher object
int tracker_id;
// terabee tower evo variables
std::shared_ptr<terabee::serial_communication::ISerial> serial_port; // serial port for communicating with tracker
terabee::RtlsDevice::config_t device_configuration;
terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_;
terabee::RtlsDevice::tracker_msg_t tracker_msg;
//terabee::RtlsDevice rtls_device;
};
int main(int argc, char **argv)
{
(void)argc;
(void)argv;
printf("starting tracker node of beacon_positioning package\n");
rclcpp::init(argc, argv);
rclcpp::executors::MultiThreadedExecutor executor;
std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>();
executor.add_node(node);
terabee::RtlsDevice rtls_device(node->get_serial_port());
if (node->get_parameter("tracker_serial_port").as_string().compare(TRACKER_0_PORT))
{
RCLCPP_INFO(node->get_logger(),"Configuring RTLS device for tracker 0");
node->set_tracker_id(0);
node->setup_rtlsdevice(&rtls_device, 0, 0, 50, 0, true);
} else
{
RCLCPP_INFO(node->get_logger(),"Configuring RTLS device for tracker 1");
node->set_tracker_id(1);
node->setup_rtlsdevice(&rtls_device, 1, 1, 50, 0, true);
}
rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg)
{
if (tracker_msg.is_valid_position)
{
RCLCPP_INFO(node->get_logger(), "x = %f, y = %f, z = %f", tracker_msg.tracker_position_xyz.at(0), tracker_msg.tracker_position_xyz.at(1), tracker_msg.tracker_position_xyz.at(2));
for (int i = 0; i < tracker_msg.anchors_data.size(); i++)
{
RCLCPP_INFO(node->get_logger(), "anchor number= %d, distance = %d, x = %d, y = %d, z = %d", tracker_msg.anchors_data[i].number, tracker_msg.anchors_data[i].distance, tracker_msg.anchors_data[i].pos_x, tracker_msg.anchors_data[i].pos_y, tracker_msg.anchors_data[i].pos_z);
}
RCLCPP_INFO(node->get_logger(), "");
auto message = beacon_positioning::msg::TrackerPosition();
message.id = node->get_tracker_id();
message.x_pos = tracker_msg.tracker_position_xyz.at(0);
message.y_pos = tracker_msg.tracker_position_xyz.at(1);
message.z_pos = tracker_msg.tracker_position_xyz.at(2);
message.anchor_distances = {0, 0, 0, 0};
for (int i = 0; i < tracker_msg.anchors_data.size(); i++)
{
message.anchor_distances[i] = tracker_msg.anchors_data[i].distance;
}
node->publish(message);
}
else
{
RCLCPP_ERROR(node->get_logger(), "invalid tracker position");
// RCLCPP_INFO(node->get_logger(), "x = %f, y = %f, z = %f", tracker_msg.tracker_position_xyz[0], tracker_msg.tracker_position_xyz[1], tracker_msg.tracker_position_xyz[2]);
} });
rtls_device.startReadingStream();
executor.spin();
rclcpp::shutdown();
rtls_device.stopReadingStream();
return node->get_serial_port()->close() ? 0 : -1;
}

1
src/build/.built_by Normal file
View File

@@ -0,0 +1 @@
colcon

0
my_package_py/resource/my_package_py → src/build/COLCON_IGNORE
View File

715
src/build/beacon_positioning/CMakeCache.txt Normal file
View File

@@ -0,0 +1,715 @@
# This is the CMakeCache file.
# For build in directory: /home/ubuntu/ros2_ws/src/build/beacon_positioning
# It was generated by CMake: /usr/bin/cmake
# You can edit this file to change values found and used by cmake.
# If you do not want to change any of the values, simply exit the editor.
# If you do want to change a value, simply edit, save, and exit the editor.
# The syntax for the file is as follows:
# KEY:TYPE=VALUE
# KEY is the name of a variable in the cache.
# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
# VALUE is the current value for the KEY.
########################
# EXTERNAL cache entries
########################
//Generate environment files in the CMAKE_INSTALL_PREFIX
AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
//Generate environment files in the package share folder
AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
//Generate marker file containing the parent prefix path
AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
//Replace the CMake install command with a custom implementation
// using symlinks instead of copying resources
AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
//Generate an uninstall target to revert the effects of the install
// step
AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
//The path where test results are generated
AMENT_TEST_RESULTS_DIR:PATH=/home/ubuntu/ros2_ws/src/build/beacon_positioning/test_results
//Build the testing tree.
BUILD_TESTING:BOOL=ON
//Path to a program.
CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
//Path to a program.
CMAKE_AR:FILEPATH=/usr/bin/ar
//Choose the type of build, options are: None Debug Release RelWithDebInfo
// MinSizeRel ...
CMAKE_BUILD_TYPE:STRING=
//Enable/Disable color output during build.
CMAKE_COLOR_MAKEFILE:BOOL=ON
//CXX compiler
CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
//Flags used by the CXX compiler during all build types.
CMAKE_CXX_FLAGS:STRING=
//Flags used by the CXX compiler during DEBUG builds.
CMAKE_CXX_FLAGS_DEBUG:STRING=-g
//Flags used by the CXX compiler during MINSIZEREL builds.
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
//Flags used by the CXX compiler during RELEASE builds.
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the CXX compiler during RELWITHDEBINFO builds.
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
//C compiler
CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
// for the GCC compiler
CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
//Flags used by the C compiler during all build types.
CMAKE_C_FLAGS:STRING=
//Flags used by the C compiler during DEBUG builds.
CMAKE_C_FLAGS_DEBUG:STRING=-g
//Flags used by the C compiler during MINSIZEREL builds.
CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
//Flags used by the C compiler during RELEASE builds.
CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the C compiler during RELWITHDEBINFO builds.
CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
//Path to a program.
CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
//Flags used by the linker during all build types.
CMAKE_EXE_LINKER_FLAGS:STRING=
//Flags used by the linker during DEBUG builds.
CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during MINSIZEREL builds.
CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
//Flags used by the linker during RELEASE builds.
CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
//Flags used by the linker during RELWITHDEBINFO builds.
CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
//Enable/Disable output of compile commands during generation.
CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
//Install path prefix, prepended onto install directories.
CMAKE_INSTALL_PREFIX:PATH=/home/ubuntu/ros2_ws/src/install/beacon_positioning
//Path to a program.
CMAKE_LINKER:FILEPATH=/usr/bin/ld
//Path to a program.
CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
//Flags used by the linker during the creation of modules during
// all build types.
CMAKE_MODULE_LINKER_FLAGS:STRING=
//Flags used by the linker during the creation of modules during
// DEBUG builds.
CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
//Flags used by the linker during the creation of modules during
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set_tests_properties(uncrustify PROPERTIES LABELS "uncrustify;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ubuntu/ros2_ws/src/beacon_positioning" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_uncrustify/cmake/ament_uncrustify.cmake;65;ament_add_test;/opt/ros/foxy/share/ament_cmake_uncrustify/cmake/ament_cmake_uncrustify_lint_hook.cmake;34;ament_uncrustify;/opt/ros/foxy/share/ament_cmake_uncrustify/cmake/ament_cmake_uncrustify_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;47;ament_package;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;0;")
add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/foxy/share/ament_cmake_test/cmake/run_test.py" "/home/ubuntu/ros2_ws/src/build/beacon_positioning/test_results/beacon_positioning/xmllint.xunit.xml" "--package-name" "beacon_positioning" "--output-file" "/home/ubuntu/ros2_ws/src/build/beacon_positioning/ament_xmllint/xmllint.txt" "--command" "/opt/ros/foxy/bin/ament_xmllint" "--xunit-file" "/home/ubuntu/ros2_ws/src/build/beacon_positioning/test_results/beacon_positioning/xmllint.xunit.xml")
set_tests_properties(xmllint PROPERTIES LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ubuntu/ros2_ws/src/beacon_positioning" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;18;ament_xmllint;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;47;ament_package;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;0;")

268
src/build/beacon_positioning/Makefile Normal file
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@@ -0,0 +1,268 @@
# CMAKE generated file: DO NOT EDIT!
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rebuild_cache/fast: rebuild_cache
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# Special rule for the target edit_cache
edit_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
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# Special rule for the target edit_cache
edit_cache/fast: edit_cache
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# Special rule for the target test
test:
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/usr/bin/ctest --force-new-ctest-process $(ARGS)
.PHONY : test
# Special rule for the target test
test/fast: test
.PHONY : test/fast
# The main all target
all: cmake_check_build_system
$(CMAKE_COMMAND) -E cmake_progress_start /home/ubuntu/ros2_ws/src/build/beacon_positioning/CMakeFiles /home/ubuntu/ros2_ws/src/build/beacon_positioning/CMakeFiles/progress.marks
$(MAKE) -f CMakeFiles/Makefile2 all
$(CMAKE_COMMAND) -E cmake_progress_start /home/ubuntu/ros2_ws/src/build/beacon_positioning/CMakeFiles 0
.PHONY : all
# The main clean target
clean:
$(MAKE) -f CMakeFiles/Makefile2 clean
.PHONY : clean
# The main clean target
clean/fast: clean
.PHONY : clean/fast
# Prepare targets for installation.
preinstall: all
$(MAKE) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall
# Prepare targets for installation.
preinstall/fast:
$(MAKE) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall/fast
# clear depends
depend:
$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
#=============================================================================
# Target rules for targets named tracker_position
# Build rule for target.
tracker_position: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 tracker_position
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# fast build rule for target.
tracker_position/fast:
$(MAKE) -f CMakeFiles/tracker_position.dir/build.make CMakeFiles/tracker_position.dir/build
.PHONY : tracker_position/fast
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# Build rule for target.
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# Build rule for target.
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help:
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@echo "... all (the default if no target is provided)"
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14
src/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig-version.cmake Normal file
View File

@@ -0,0 +1,14 @@
# generated from ament/cmake/core/templates/nameConfig-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()

42
src/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig.cmake Normal file
View File

@@ -0,0 +1,42 @@
# generated from ament/cmake/core/templates/nameConfig.cmake.in
# prevent multiple inclusion
if(_beacon_positioning_CONFIG_INCLUDED)
# ensure to keep the found flag the same
if(NOT DEFINED beacon_positioning_FOUND)
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
set(beacon_positioning_FOUND FALSE)
elseif(NOT beacon_positioning_FOUND)
# use separate condition to avoid uninitialized variable warning
set(beacon_positioning_FOUND FALSE)
endif()
return()
endif()
set(_beacon_positioning_CONFIG_INCLUDED TRUE)
# output package information
if(NOT beacon_positioning_FIND_QUIETLY)
message(STATUS "Found beacon_positioning: 0.0.0 (${beacon_positioning_DIR})")
endif()
# warn when using a deprecated package
if(NOT "" STREQUAL "")
set(_msg "Package 'beacon_positioning' is deprecated")
# append custom deprecation text if available
if(NOT "" STREQUAL "TRUE")
set(_msg "${_msg} ()")
endif()
# optionally quiet the deprecation message
if(NOT ${beacon_positioning_DEPRECATED_QUIET})
message(DEPRECATION "${_msg}")
endif()
endif()
# flag package as ament-based to distinguish it after being find_package()-ed
set(beacon_positioning_FOUND_AMENT_PACKAGE TRUE)
# include all config extra files
set(_extras "")
foreach(_extra ${_extras})
include("${beacon_positioning_DIR}/${_extra}")
endforeach()

14
src/build/beacon_positioning/ament_cmake_core/package.cmake Normal file
View File

@@ -0,0 +1,14 @@
set(_AMENT_PACKAGE_NAME "beacon_positioning")
set(beacon_positioning_VERSION "0.0.0")
set(beacon_positioning_MAINTAINER "sem <semmer99@gmail.com>")
set(beacon_positioning_BUILD_DEPENDS "rclcpp" "std_msgs")
set(beacon_positioning_BUILDTOOL_DEPENDS "ament_cmake")
set(beacon_positioning_BUILD_EXPORT_DEPENDS "rclcpp" "std_msgs")
set(beacon_positioning_BUILDTOOL_EXPORT_DEPENDS )
set(beacon_positioning_EXEC_DEPENDS "rclcpp" "std_msgs")
set(beacon_positioning_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
set(beacon_positioning_GROUP_DEPENDS )
set(beacon_positioning_MEMBER_OF_GROUPS )
set(beacon_positioning_DEPRECATED "")
set(beacon_positioning_EXPORT_TAGS)
list(APPEND beacon_positioning_EXPORT_TAGS "<build_type>ament_cmake</build_type>")

4
src/build/beacon_positioning/ament_cmake_core/stamps/ament_prefix_path.sh.stamp Normal file
View File

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

14
src/build/beacon_positioning/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp Normal file
View File

@@ -0,0 +1,14 @@
# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
set(PACKAGE_VERSION "@PACKAGE_VERSION@")
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()

42
src/build/beacon_positioning/ament_cmake_core/stamps/nameConfig.cmake.in.stamp Normal file
View File

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

7
drone_sensors/package.xml → src/build/beacon_positioning/ament_cmake_core/stamps/package.xml.stamp
View File

@@ -1,14 +1,13 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>drone_sensors</name>
<name>beacon_positioning</name>
<version>0.0.0</version>
<description>package for the environment sensors of the 5G drone (height meter, object detection)</description>
<maintainer email="sem.hoeven@gmail.com">Sem van der Hoeven</maintainer>
<description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
<maintainer email="semmer99@gmail.com">sem</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>

143
src/build/beacon_positioning/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp Normal file
View File

@@ -0,0 +1,143 @@
#!/usr/bin/env python3
# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import argparse
from collections import OrderedDict
import sys
from catkin_pkg.package import parse_package_string
def main(argv=sys.argv[1:]):
"""
Extract the information from package.xml and make them accessible to CMake.
Parse the given package.xml file and
print CMake code defining several variables containing the content.
"""
parser = argparse.ArgumentParser(
description='Parse package.xml file and print CMake code defining '
'several variables',
)
parser.add_argument(
'package_xml',
type=argparse.FileType('r', encoding='utf-8'),
help='The path to a package.xml file',
)
parser.add_argument(
'outfile',
nargs='?',
help='The filename where the output should be written to',
)
args = parser.parse_args(argv)
try:
package = parse_package_string(
args.package_xml.read(), filename=args.package_xml.name)
except Exception as e:
print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
raise e
finally:
args.package_xml.close()
lines = generate_cmake_code(package)
if args.outfile:
with open(args.outfile, 'w', encoding='utf-8') as f:
for line in lines:
f.write('%s\n' % line)
else:
for line in lines:
print(line)
def get_dependency_values(key, depends):
dependencies = []
dependencies.append((key, ' '.join(['"%s"' % str(d) for d in depends])))
for d in depends:
comparisons = [
'version_lt',
'version_lte',
'version_eq',
'version_gte',
'version_gt']
for comp in comparisons:
value = getattr(d, comp, None)
if value is not None:
dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
'"%s"' % value))
return dependencies
def generate_cmake_code(package):
"""
Return a list of CMake set() commands containing the manifest information.
:param package: catkin_pkg.package.Package
:returns: list of str
"""
variables = []
variables.append(('VERSION', '"%s"' % package.version))
variables.append((
'MAINTAINER',
'"%s"' % (', '.join([str(m) for m in package.maintainers]))))
variables.extend(get_dependency_values('BUILD_DEPENDS',
package.build_depends))
variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
package.buildtool_depends))
variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
package.build_export_depends))
variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
package.buildtool_export_depends))
variables.extend(get_dependency_values('EXEC_DEPENDS',
package.exec_depends))
variables.extend(get_dependency_values('TEST_DEPENDS',
package.test_depends))
variables.extend(get_dependency_values('GROUP_DEPENDS',
package.group_depends))
variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
package.member_of_groups))
deprecated = [e.content for e in package.exports
if e.tagname == 'deprecated']
variables.append(('DEPRECATED',
'"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
if deprecated
else '')))
lines = []
lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
for (k, v) in variables:
lines.append('set(%s_%s %s)' % (package.name, k, v))
lines.append('set(%s_EXPORT_TAGS)' % package.name)
replaces = OrderedDict()
replaces['${prefix}/'] = ''
replaces['\\'] = '\\\\' # escape backslashes
replaces['"'] = '\\"' # prevent double quotes to end the CMake string
replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators
for export in package.exports:
export = str(export)
for k, v in replaces.items():
export = export.replace(k, v)
lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
return lines
if __name__ == '__main__':
main()

5
src/build/beacon_positioning/ament_cmake_core/stamps/path.sh.stamp Normal file
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# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
fi

112
src/build/beacon_positioning/ament_cmake_core/stamps/templates_2_cmake.py.stamp Normal file
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#!/usr/bin/env python3
# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import argparse
import os
import sys
from ament_package.templates import get_environment_hook_template_path
from ament_package.templates import get_package_level_template_names
from ament_package.templates import get_package_level_template_path
from ament_package.templates import get_prefix_level_template_names
from ament_package.templates import get_prefix_level_template_path
IS_WINDOWS = os.name == 'nt'
def main(argv=sys.argv[1:]):
"""
Extract the information about templates provided by ament_package.
Call the API provided by ament_package and
print CMake code defining several variables containing information about
the available templates.
"""
parser = argparse.ArgumentParser(
description='Extract information about templates provided by '
'ament_package and print CMake code defining several '
'variables',
)
parser.add_argument(
'outfile',
nargs='?',
help='The filename where the output should be written to',
)
args = parser.parse_args(argv)
lines = generate_cmake_code()
if args.outfile:
basepath = os.path.dirname(args.outfile)
if not os.path.exists(basepath):
os.makedirs(basepath)
with open(args.outfile, 'w') as f:
for line in lines:
f.write('%s\n' % line)
else:
for line in lines:
print(line)
def generate_cmake_code():
"""
Return a list of CMake set() commands containing the template information.
:returns: list of str
"""
variables = []
if not IS_WINDOWS:
variables.append((
'ENVIRONMENT_HOOK_LIBRARY_PATH',
'"%s"' % get_environment_hook_template_path('library_path.sh')))
else:
variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
ext = '.bat.in' if IS_WINDOWS else '.sh.in'
variables.append((
'ENVIRONMENT_HOOK_PYTHONPATH',
'"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
templates = []
for name in get_package_level_template_names():
templates.append('"%s"' % get_package_level_template_path(name))
variables.append((
'PACKAGE_LEVEL',
templates))
templates = []
for name in get_prefix_level_template_names():
templates.append('"%s"' % get_prefix_level_template_path(name))
variables.append((
'PREFIX_LEVEL',
templates))
lines = []
for (k, v) in variables:
if isinstance(v, list):
lines.append('set(ament_cmake_package_templates_%s "")' % k)
for vv in v:
lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
% (k, vv))
else:
lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
# Ensure backslashes are replaced with forward slashes because CMake cannot
# parse files with backslashes in it.
return [l.replace('\\', '/') for l in lines]
if __name__ == '__main__':
main()

1
src/build/beacon_positioning/ament_cmake_environment_hooks/ament_prefix_path.dsv Normal file
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prepend-non-duplicate;AMENT_PREFIX_PATH;

46
src/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.bash Normal file
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# generated from ament_package/template/package_level/local_setup.bash.in
# source local_setup.sh from same directory as this file
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
# provide AMENT_CURRENT_PREFIX to shell script
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_this_path/local_setup.sh\""
fi
. "$_this_path/local_setup.sh"
unset _this_path
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# list all environment hooks of this package
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
# restore AMENT_CURRENT_PREFIX for each environment hook
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
. "$_hook"
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
unset _package_local_setup_AMENT_CURRENT_PREFIX
unset AMENT_CURRENT_PREFIX

2
src/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.dsv Normal file
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source;share/beacon_positioning/environment/ament_prefix_path.sh
source;share/beacon_positioning/environment/path.sh

133
src/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.sh Normal file
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# generated from ament_package/template/package_level/local_setup.sh.in
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
# or fall back to the destination set at configure time
: ${AMENT_CURRENT_PREFIX:="/home/ubuntu/ros2_ws/src/install/beacon_positioning"}
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
"exist. Consider sourcing a different extension than '.sh'." 1>&2
else
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
fi
# function to append values to environment variables
# using colons as separators and avoiding leading separators
ament_append_value() {
# arguments
_listname="$1"
_value="$2"
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# avoid leading separator
eval _values=\"\$$_listname\"
if [ -z "$_values" ]; then
eval export $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
_ament_append_value_IFS=$IFS
unset IFS
eval export $_listname=\"\$$_listname:$_value\"
#eval echo "append list \$$_listname"
IFS=$_ament_append_value_IFS
unset _ament_append_value_IFS
fi
unset _values
unset _value
unset _listname
}
# function to prepend non-duplicate values to environment variables
# using colons as separators and avoiding trailing separators
ament_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
#echo "listname $_listname"
#eval echo "list value \$$_listname"
#echo "value $_value"
# check if the list contains the value
eval _values=\"\$$_listname\"
_duplicate=
_ament_prepend_unique_value_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array _values
fi
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
if [ "$_item" = "$_value" ]; then
_duplicate=1
fi
done
unset _item
# prepend only non-duplicates
if [ -z "$_duplicate" ]; then
# avoid trailing separator
if [ -z "$_values" ]; then
eval export $_listname=\"$_value\"
#eval echo "set list \$$_listname"
else
# field separator must not be a colon
unset IFS
eval export $_listname=\"$_value:\$$_listname\"
#eval echo "prepend list \$$_listname"
fi
fi
IFS=$_ament_prepend_unique_value_IFS
unset _ament_prepend_unique_value_IFS
unset _duplicate
unset _values
unset _value
unset _listname
}
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# list all environment hooks of this package
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/beacon_positioning/environment/ament_prefix_path.sh"
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/beacon_positioning/environment/path.sh"
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
if [ "$AMENT_SHELL" = "zsh" ]; then
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
fi
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
if [ -f "$_hook" ]; then
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_hook\""
fi
. "$_hook"
fi
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
# reset AMENT_CURRENT_PREFIX after each package
# allowing to source multiple package-level setup files
unset AMENT_CURRENT_PREFIX

59
src/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.zsh Normal file
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# generated from ament_package/template/package_level/local_setup.zsh.in
AMENT_SHELL=zsh
# source local_setup.sh from same directory as this file
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
# provide AMENT_CURRENT_PREFIX to shell script
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
# function to convert array-like strings into arrays
# to wordaround SH_WORD_SPLIT not being set
ament_zsh_to_array() {
local _listname=$1
local _dollar="$"
local _split="{="
local _to_array="(\"$_dollar$_split$_listname}\")"
eval $_listname=$_to_array
}
# trace output
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
echo "# . \"$_this_path/local_setup.sh\""
fi
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
. "$_this_path/local_setup.sh"
unset _this_path
# unset AMENT_ENVIRONMENT_HOOKS
# if not appending to them for return
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
unset AMENT_ENVIRONMENT_HOOKS
fi
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# list all environment hooks of this package
# source all shell-specific environment hooks of this package
# if not returning them
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
_package_local_setup_IFS=$IFS
IFS=":"
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
# restore AMENT_CURRENT_PREFIX for each environment hook
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
# restore IFS before sourcing other files
IFS=$_package_local_setup_IFS
. "$_hook"
done
unset _hook
IFS=$_package_local_setup_IFS
unset _package_local_setup_IFS
unset AMENT_ENVIRONMENT_HOOKS
fi
unset _package_local_setup_AMENT_CURRENT_PREFIX
unset AMENT_CURRENT_PREFIX

4
src/build/beacon_positioning/ament_cmake_environment_hooks/package.dsv Normal file
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source;share/beacon_positioning/local_setup.bash
source;share/beacon_positioning/local_setup.dsv
source;share/beacon_positioning/local_setup.sh
source;share/beacon_positioning/local_setup.zsh

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