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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 + +//Build dynamically-linked binaries +BUILD_SHARED_LIBS:BOOL=ON + +//Boost date_time library (debug) +Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//Boost date_time library (release) +Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so + +//Boost filesystem library (debug) +Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so + +//Boost filesystem 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+//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Path to a program. +DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND + +//Path to a file. +EIGEN_INCLUDE_DIR:PATH=/usr/include/eigen3 + +//Path to a program. +EMPY_EXECUTABLE:FILEPATH=EMPY_EXECUTABLE-NOTFOUND + +//Empy script +EMPY_SCRIPT:STRING=/usr/lib/python3/dist-packages/em.py + +//The directory containing a CMake configuration file for Eigen3. +Eigen3_DIR:PATH=/usr/local/share/eigen3/cmake + +//Path to a file. +FLANN_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +FLANN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp.so + +//Path to a library. +FLANN_LIBRARY_DEBUG:FILEPATH=FLANN_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GMOCK_LIBRARY:FILEPATH=GMOCK_LIBRARY-NOTFOUND + +//Path to a library. +GMOCK_LIBRARY_DEBUG:FILEPATH=GMOCK_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GMOCK_MAIN_LIBRARY:FILEPATH=GMOCK_MAIN_LIBRARY-NOTFOUND + +//Path to a library. +GMOCK_MAIN_LIBRARY_DEBUG:FILEPATH=GMOCK_MAIN_LIBRARY_DEBUG-NOTFOUND + +//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=/usr/lib/x86_64-linux-gnu/libgtest.a + +//Path to a library. +GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +GTEST_MAIN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libgtest_main.a + +//Path to a library. +GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND + +//The directory containing a CMake configuration file for GTest. +GTest_DIR:PATH=GTest_DIR-NOTFOUND + +//Enable installation of googletest. (Projects embedding googletest +// may want to turn this OFF.) +INSTALL_GTEST:BOOL=OFF + +//Path to a file. +LIBUSB_1_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//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/nosetests3 + +//Path to a file. +OPENNI2_INCLUDE_DIR:PATH=/usr/include/openni2 + +//Path to a library. +OPENNI2_LIBRARY:FILEPATH=/usr/lib/libOpenNI2.so + +//Path to a file. +OPENNI_INCLUDE_DIR:PATH=/usr/include/ni + +//Path to a library. +OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so + +//path to 2d headers +PCL_2D_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to apps headers +PCL_APPS_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_apps library +PCL_APPS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_apps.so + +//path to pcl_apps library debug +PCL_APPS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_apps.so + +//path to common headers +PCL_COMMON_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_common library +PCL_COMMON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so + +//path to pcl_common library debug +PCL_COMMON_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so + +//The directory containing a CMake configuration file for PCL. +PCL_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/pcl + +//path to features headers +PCL_FEATURES_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_features library +PCL_FEATURES_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_features.so + +//path to pcl_features library debug +PCL_FEATURES_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_features.so + +//path to filters headers +PCL_FILTERS_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_filters library +PCL_FILTERS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_filters.so + +//path to pcl_filters library debug +PCL_FILTERS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_filters.so + +//path to geometry headers +PCL_GEOMETRY_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to in_hand_scanner headers +PCL_IN_HAND_SCANNER_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to io headers +PCL_IO_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_io library +PCL_IO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so + +//path to pcl_io library debug +PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so + +//path to kdtree headers +PCL_KDTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_kdtree library +PCL_KDTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so + +//path to pcl_kdtree library debug +PCL_KDTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so + +//path to keypoints headers +PCL_KEYPOINTS_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_keypoints library +PCL_KEYPOINTS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so + +//path to pcl_keypoints library debug +PCL_KEYPOINTS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so + +//path to ml headers +PCL_ML_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_ml library +PCL_ML_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_ml.so + +//path to pcl_ml library debug +PCL_ML_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_ml.so + +//path to octree headers +PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_octree library +PCL_OCTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so + +//path to pcl_octree library debug +PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so + +//path to outofcore headers +PCL_OUTOFCORE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_outofcore library +PCL_OUTOFCORE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so + +//path to pcl_outofcore library debug +PCL_OUTOFCORE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so + +//path to people headers +PCL_PEOPLE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_people library +PCL_PEOPLE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_people.so + +//path to pcl_people library debug +PCL_PEOPLE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_people.so + +//path to point_cloud_editor headers +PCL_POINT_CLOUD_EDITOR_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to recognition headers +PCL_RECOGNITION_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_recognition library +PCL_RECOGNITION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_recognition.so + +//path to pcl_recognition library debug +PCL_RECOGNITION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_recognition.so + +//path to registration headers +PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_registration library +PCL_REGISTRATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_registration.so + +//path to pcl_registration library debug +PCL_REGISTRATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_registration.so + +//path to sample_consensus headers +PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_sample_consensus library +PCL_SAMPLE_CONSENSUS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so + +//path to pcl_sample_consensus library debug +PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so + +//path to search headers +PCL_SEARCH_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_search library +PCL_SEARCH_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_search.so + +//path to pcl_search library debug +PCL_SEARCH_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_search.so + +//path to segmentation headers +PCL_SEGMENTATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_segmentation library +PCL_SEGMENTATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so + +//path to pcl_segmentation library debug +PCL_SEGMENTATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so + +//path to stereo headers +PCL_STEREO_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_stereo library +PCL_STEREO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_stereo.so + +//path to pcl_stereo library debug +PCL_STEREO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_stereo.so + +//path to surface headers +PCL_SURFACE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_surface library +PCL_SURFACE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_surface.so + +//path to pcl_surface library debug +PCL_SURFACE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_surface.so + +//path to tracking headers +PCL_TRACKING_INCLUDE_DIR:PATH=/usr/include/pcl-1.10 + +//path to pcl_tracking library 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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 actionlib. +actionlib_DIR:PATH=/opt/ros/noetic/share/actionlib/cmake + +//The directory containing a CMake configuration file for actionlib_msgs. +actionlib_msgs_DIR:PATH=/opt/ros/noetic/share/actionlib_msgs/cmake + +//The directory containing a CMake configuration file for bond. +bond_DIR:PATH=/opt/ros/noetic/share/bond/cmake + +//The directory containing a CMake configuration file for bondcpp. +bondcpp_DIR:PATH=/opt/ros/noetic/share/bondcpp/cmake + +//Value Computed by CMake +caim_core_BINARY_DIR:STATIC=/home/yekai/caim_ws/build/caim_core + +//The directory containing a CMake configuration file for caim_core. +caim_core_DIR:PATH=/home/yekai/caim_ws/devel/share/caim_core/cmake + +//Value Computed by CMake +caim_core_SOURCE_DIR:STATIC=/home/yekai/caim_ws/src/caim_core + +//Value Computed by CMake +caim_tiaoshi_BINARY_DIR:STATIC=/home/yekai/caim_ws/build/caim_tiaoshi + +//Value Computed by CMake +caim_tiaoshi_SOURCE_DIR:STATIC=/home/yekai/caim_ws/src/caim_tiaoshi + +//The directory containing a CMake configuration file for catkin. +catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/noetic/share/class_loader/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake + +//The directory containing a CMake configuration file for cv_bridge. +cv_bridge_DIR:PATH=/opt/ros/noetic/share/cv_bridge/cmake + +//The directory containing a CMake configuration file for dynamic_reconfigure. +dynamic_reconfigure_DIR:PATH=/opt/ros/noetic/share/dynamic_reconfigure/cmake + +//The directory containing a CMake configuration file for flann. +flann_DIR:PATH=flann_DIR-NOTFOUND + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake + +//The directory containing a CMake configuration file for geneus. +geneus_DIR:PATH=/opt/ros/noetic/share/geneus/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/noetic/share/genmsg/cmake + +//The directory containing a CMake configuration file for gennodejs. +gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/noetic/share/genpy/cmake + +//The directory containing a CMake configuration file for geographic_msgs. +geographic_msgs_DIR:PATH=/opt/ros/noetic/share/geographic_msgs/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/noetic/share/geometry_msgs/cmake + +//Value Computed by CMake +gmock_BINARY_DIR:STATIC=/home/yekai/caim_ws/build/gtest/googlemock + +//Dependencies for the target +gmock_LIB_DEPENDS:STATIC=general;gtest; + +//Value Computed by CMake +gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock + +//Build all of Google Mock's own tests. +gmock_build_tests:BOOL=OFF + +//Dependencies for the target +gmock_main_LIB_DEPENDS:STATIC=general;gmock; + +//Value Computed by CMake +googletest-distribution_BINARY_DIR:STATIC=/home/yekai/caim_ws/build/gtest + +//Value Computed by CMake +googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/yekai/caim_ws/build/gtest/googletest + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Build gtest with internal symbols hidden in shared libraries. +gtest_hide_internal_symbols:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;gtest; + +//The directory containing a CMake configuration file for image_transport. +image_transport_DIR:PATH=/opt/ros/noetic/share/image_transport/cmake + +//Path to a library. +lib:FILEPATH=/opt/ros/noetic/lib/librostime.so + +//The directory containing a CMake configuration file for mavros_msgs. +mavros_msgs_DIR:PATH=/opt/ros/noetic/share/mavros_msgs/cmake + +//The directory containing a CMake configuration file for message_filters. +message_filters_DIR:PATH=/opt/ros/noetic/share/message_filters/cmake + +//The directory containing a CMake configuration file for message_generation. +message_generation_DIR:PATH=/opt/ros/noetic/share/message_generation/cmake + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake + +//The directory containing a CMake configuration file for nav_msgs. +nav_msgs_DIR:PATH=/opt/ros/noetic/share/nav_msgs/cmake + +//The directory containing a CMake configuration file for nodelet. +nodelet_DIR:PATH=/opt/ros/noetic/share/nodelet/cmake + +//The directory containing a CMake configuration file for nodelet_topic_tools. +nodelet_topic_tools_DIR:PATH=/opt/ros/noetic/share/nodelet_topic_tools/cmake + +//The directory containing a CMake configuration file for pcl_conversions. +pcl_conversions_DIR:PATH=/opt/ros/noetic/share/pcl_conversions/cmake + +//The directory containing a CMake configuration file for pcl_msgs. +pcl_msgs_DIR:PATH=/opt/ros/noetic/share/pcl_msgs/cmake + +//The directory containing a CMake configuration file for pcl_ros. +pcl_ros_DIR:PATH=/opt/ros/noetic/share/pcl_ros/cmake + +//Path to a library. +pkgcfg_lib_PC_FLANN_flann:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann.so + +//Path to a library. +pkgcfg_lib_PC_FLANN_flann_cpp:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp.so + +//Path to a library. +pkgcfg_lib_PC_FLANN_lz4:FILEPATH=/usr/lib/x86_64-linux-gnu/liblz4.so + +//Path to a library. +pkgcfg_lib_PC_OPENNI2_OpenNI2:FILEPATH=/usr/lib/libOpenNI2.so + +//Path to a library. +pkgcfg_lib_PC_OPENNI_OpenNI:FILEPATH=/usr/lib/libOpenNI.so + +//Path to a library. +pkgcfg_lib_PC_USB_10_usb-1.0:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so + +//The directory containing a CMake configuration file for pluginlib. +pluginlib_DIR:PATH=/opt/ros/noetic/share/pluginlib/cmake + +//The directory containing a CMake configuration file for rosbag. +rosbag_DIR:PATH=/opt/ros/noetic/share/rosbag/cmake + +//The directory containing a CMake configuration file for rosbag_storage. +rosbag_storage_DIR:PATH=/opt/ros/noetic/share/rosbag_storage/cmake + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/noetic/share/rosconsole/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/noetic/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/noetic/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/noetic/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph. +rosgraph_DIR:PATH=/opt/ros/noetic/share/rosgraph/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/noetic/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for roslib. +roslib_DIR:PATH=/opt/ros/noetic/share/roslib/cmake + +//The directory containing a CMake configuration file for roslz4. +roslz4_DIR:PATH=/opt/ros/noetic/share/roslz4/cmake + +//The directory containing a CMake configuration file for rospack. +rospack_DIR:PATH=/opt/ros/noetic/share/rospack/cmake + +//The directory containing a CMake configuration file for rospy. +rospy_DIR:PATH=/opt/ros/noetic/share/rospy/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/noetic/share/rostime/cmake + +//The directory containing a CMake configuration file for sensor_msgs. +sensor_msgs_DIR:PATH=/opt/ros/noetic/share/sensor_msgs/cmake + +//The directory containing a CMake configuration file for smclib. +smclib_DIR:PATH=/opt/ros/noetic/share/smclib/cmake + +//The directory containing a CMake configuration file for std_msgs. +std_msgs_DIR:PATH=/opt/ros/noetic/share/std_msgs/cmake + +//The directory containing a CMake configuration file for std_srvs. +std_srvs_DIR:PATH=/opt/ros/noetic/share/std_srvs/cmake + +//The directory containing a CMake configuration file for tf2. +tf2_DIR:PATH=/opt/ros/noetic/share/tf2/cmake + +//The directory containing a CMake configuration file for tf2_eigen. +tf2_eigen_DIR:PATH=/opt/ros/noetic/share/tf2_eigen/cmake + +//The directory containing a CMake configuration file for tf2_msgs. +tf2_msgs_DIR:PATH=/opt/ros/noetic/share/tf2_msgs/cmake + +//The directory containing a CMake configuration file for tf2_py. +tf2_py_DIR:PATH=/opt/ros/noetic/share/tf2_py/cmake + +//The directory containing a CMake configuration file for tf2_ros. +tf2_ros_DIR:PATH=/opt/ros/noetic/share/tf2_ros/cmake + +//The directory containing a CMake configuration file for tf. +tf_DIR:PATH=/opt/ros/noetic/share/tf/cmake + +//The directory containing a CMake configuration file for topic_tools. +topic_tools_DIR:PATH=/opt/ros/noetic/share/topic_tools/cmake + +//The directory containing a CMake configuration file for uuid_msgs. +uuid_msgs_DIR:PATH=/opt/ros/noetic/share/uuid_msgs/cmake + +//The directory containing a CMake configuration file for visualization_msgs. +visualization_msgs_DIR:PATH=/opt/ros/noetic/share/visualization_msgs/cmake + +//The directory containing a CMake configuration file for xmlrpcpp. +xmlrpcpp_DIR:PATH=/opt/ros/noetic/share/xmlrpcpp/cmake + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_DEBUG +Boost_DATE_TIME_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_RELEASE +Boost_DATE_TIME_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_FILESYSTEM_LIBRARY_DEBUG +Boost_FILESYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_FILESYSTEM_LIBRARY_RELEASE +Boost_FILESYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_INCLUDE_DIR +Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_IOSTREAMS_LIBRARY_DEBUG +Boost_IOSTREAMS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_IOSTREAMS_LIBRARY_RELEASE +Boost_IOSTREAMS_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIR_DEBUG +Boost_LIBRARY_DIR_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIR_RELEASE +Boost_LIBRARY_DIR_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_REGEX_LIBRARY_DEBUG +Boost_REGEX_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_REGEX_LIBRARY_RELEASE +Boost_REGEX_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_DEBUG +Boost_SYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_RELEASE +Boost_SYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1 +//catkin environment +CATKIN_ENV:INTERNAL=/home/yekai/caim_ws/build/catkin_generated/env_cached.sh +CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/yekai/caim_ws/build/test_results +//ADVANCED property for variable: CMAKE_ADDR2LINE +CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 +//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/yekai/caim_ws/build +//Major version of cmake used to create the current loaded cache +CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 +//Minor version of cmake used to create the current loaded cache +CMAKE_CACHE_MINOR_VERSION:INTERNAL=16 +//Patch version of cmake used to create the current loaded cache +CMAKE_CACHE_PATCH_VERSION:INTERNAL=3 +//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE +CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1 +//Path to CMake executable. +CMAKE_COMMAND:INTERNAL=/usr/bin/cmake +//Path to cpack program executable. +CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack +//Path to ctest program executable. +CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest +//ADVANCED property for variable: CMAKE_CXX_COMPILER +CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_COMPILER_AR +CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB 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variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS +CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1 +//Name of external makefile project generator. +CMAKE_EXTRA_GENERATOR:INTERNAL= +//Name of generator. +CMAKE_GENERATOR:INTERNAL=Unix Makefiles +//Generator instance identifier. +CMAKE_GENERATOR_INSTANCE:INTERNAL= +//Name of generator platform. +CMAKE_GENERATOR_PLATFORM:INTERNAL= +//Name of generator toolset. +CMAKE_GENERATOR_TOOLSET:INTERNAL= +//Test CMAKE_HAVE_LIBC_PTHREAD +CMAKE_HAVE_LIBC_PTHREAD:INTERNAL= +//Have library pthreads +CMAKE_HAVE_PTHREADS_CREATE:INTERNAL= +//Have library pthread +CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1 +//Have include pthread.h +CMAKE_HAVE_PTHREAD_H:INTERNAL=1 +//Source directory with the top level CMakeLists.txt file for this +// project +CMAKE_HOME_DIRECTORY:INTERNAL=/home/yekai/caim_ws/src +//ADVANCED property for variable: 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+CMAKE_RANLIB-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_READELF +CMAKE_READELF-ADVANCED:INTERNAL=1 +//Path to CMake installation. +CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.16 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS +CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG +CMAKE_SHARED_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELEASE +CMAKE_SHARED_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SKIP_INSTALL_RPATH +CMAKE_SKIP_INSTALL_RPATH-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_SKIP_RPATH +CMAKE_SKIP_RPATH-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS +CMAKE_STATIC_LINKER_FLAGS-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_DEBUG +CMAKE_STATIC_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELEASE +CMAKE_STATIC_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_STRIP +CMAKE_STRIP-ADVANCED:INTERNAL=1 +//uname command +CMAKE_UNAME:INTERNAL=/usr/bin/uname +//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE +CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: EIGEN_INCLUDE_DIR +EIGEN_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//Details about finding Boost +FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/usr/include][cfound components: system filesystem date_time iostreams regex ][v1.71.0(1.55.0)] +//Details about finding Eigen +FIND_PACKAGE_MESSAGE_DETAILS_Eigen:INTERNAL=[/usr/include/eigen3][v(3.1)] +//Details about finding FLANN +FIND_PACKAGE_MESSAGE_DETAILS_FLANN:INTERNAL=[/usr/lib/x86_64-linux-gnu/libflann_cpp.so][/usr/include][v()] +//Details about finding OpenNI +FIND_PACKAGE_MESSAGE_DETAILS_OpenNI:INTERNAL=[/usr/lib/libOpenNI.so][/usr/include/ni][v()] +//Details about finding OpenNI2 +FIND_PACKAGE_MESSAGE_DETAILS_OpenNI2:INTERNAL=[/usr/lib/libOpenNI2.so][/usr/include/openni2][v()] +//Details about finding PCL +FIND_PACKAGE_MESSAGE_DETAILS_PCL:INTERNAL=[pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN][/usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/ni;/usr/include/openni2][v()] +//Details about finding PCL_2D +FIND_PACKAGE_MESSAGE_DETAILS_PCL_2D:INTERNAL=[/usr/include/pcl-1.10][v()] +//Details about finding PCL_APPS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_APPS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_apps.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_COMMON +FIND_PACKAGE_MESSAGE_DETAILS_PCL_COMMON:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_common.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_FEATURES +FIND_PACKAGE_MESSAGE_DETAILS_PCL_FEATURES:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_features.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_FILTERS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_FILTERS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_filters.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_GEOMETRY +FIND_PACKAGE_MESSAGE_DETAILS_PCL_GEOMETRY:INTERNAL=[/usr/include/pcl-1.10][v()] +//Details about finding PCL_IN_HAND_SCANNER +FIND_PACKAGE_MESSAGE_DETAILS_PCL_IN_HAND_SCANNER:INTERNAL=[/usr/include/pcl-1.10][v()] +//Details about finding PCL_IO +FIND_PACKAGE_MESSAGE_DETAILS_PCL_IO:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_io.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_KDTREE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_KDTREE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_KEYPOINTS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_KEYPOINTS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_ML +FIND_PACKAGE_MESSAGE_DETAILS_PCL_ML:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_ml.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_OCTREE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_OCTREE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_octree.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_OUTOFCORE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_OUTOFCORE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_PEOPLE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_PEOPLE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_people.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_POINT_CLOUD_EDITOR +FIND_PACKAGE_MESSAGE_DETAILS_PCL_POINT_CLOUD_EDITOR:INTERNAL=[/usr/include/pcl-1.10][v()] +//Details about finding PCL_RECOGNITION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_RECOGNITION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_recognition.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_REGISTRATION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_REGISTRATION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_registration.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_SAMPLE_CONSENSUS +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SAMPLE_CONSENSUS:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_SEARCH +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SEARCH:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_search.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_SEGMENTATION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SEGMENTATION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_STEREO +FIND_PACKAGE_MESSAGE_DETAILS_PCL_STEREO:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_stereo.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_SURFACE +FIND_PACKAGE_MESSAGE_DETAILS_PCL_SURFACE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_surface.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_TRACKING +FIND_PACKAGE_MESSAGE_DETAILS_PCL_TRACKING:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_tracking.so][/usr/include/pcl-1.10][v()] +//Details about finding PCL_VISUALIZATION +FIND_PACKAGE_MESSAGE_DETAILS_PCL_VISUALIZATION:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_visualization.so][/usr/include/pcl-1.10][v()] +//Details about finding PY_em +FIND_PACKAGE_MESSAGE_DETAILS_PY_em:INTERNAL=[/usr/lib/python3/dist-packages/em.py][v()] +//Details about finding PythonInterp +FIND_PACKAGE_MESSAGE_DETAILS_PythonInterp:INTERNAL=[/usr/bin/python3][v3.8.10()] +//Details about finding Qhull +FIND_PACKAGE_MESSAGE_DETAILS_Qhull:INTERNAL=[optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so][/usr/include][v()] +//Details about finding Threads +FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()] +//Details about finding USB_10 +FIND_PACKAGE_MESSAGE_DETAILS_USB_10:INTERNAL=[/usr/lib/x86_64-linux-gnu/libusb-1.0.so][/usr/include][v()] +//Details about finding libusb-1.0 +FIND_PACKAGE_MESSAGE_DETAILS_libusb-1.0:INTERNAL=[/usr/include][v()] +GMOCK_FROM_SOURCE_FOUND:INTERNAL=TRUE +GMOCK_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/src/googletest/googlemock/include +GMOCK_FROM_SOURCE_LIBRARIES:INTERNAL=gmock +GMOCK_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/yekai/caim_ws/build/gmock +GMOCK_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gmock_main +//ADVANCED property for variable: GMOCK_LIBRARY +GMOCK_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GMOCK_LIBRARY_DEBUG +GMOCK_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GMOCK_MAIN_LIBRARY +GMOCK_MAIN_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GMOCK_MAIN_LIBRARY_DEBUG +GMOCK_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +GTEST_FROM_SOURCE_FOUND:INTERNAL=TRUE +GTEST_FROM_SOURCE_INCLUDE_DIRS:INTERNAL=/usr/include +GTEST_FROM_SOURCE_LIBRARIES:INTERNAL=gtest +GTEST_FROM_SOURCE_LIBRARY_DIRS:INTERNAL=/home/yekai/caim_ws/build/gtest +GTEST_FROM_SOURCE_MAIN_LIBRARIES:INTERNAL=gtest_main +//ADVANCED property for variable: GTEST_INCLUDE_DIR +GTEST_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_LIBRARY +GTEST_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_LIBRARY_DEBUG +GTEST_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_MAIN_LIBRARY +GTEST_MAIN_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: GTEST_MAIN_LIBRARY_DEBUG +GTEST_MAIN_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_2D_INCLUDE_DIR +PCL_2D_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_APPS_INCLUDE_DIR +PCL_APPS_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_APPS_LIBRARY +PCL_APPS_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_APPS_LIBRARY_DEBUG +PCL_APPS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_INCLUDE_DIR +PCL_COMMON_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_LIBRARY +PCL_COMMON_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_COMMON_LIBRARY_DEBUG +PCL_COMMON_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FEATURES_INCLUDE_DIR +PCL_FEATURES_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FEATURES_LIBRARY +PCL_FEATURES_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FEATURES_LIBRARY_DEBUG +PCL_FEATURES_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FILTERS_INCLUDE_DIR +PCL_FILTERS_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FILTERS_LIBRARY +PCL_FILTERS_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_FILTERS_LIBRARY_DEBUG +PCL_FILTERS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_GEOMETRY_INCLUDE_DIR +PCL_GEOMETRY_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IN_HAND_SCANNER_INCLUDE_DIR +PCL_IN_HAND_SCANNER_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_INCLUDE_DIR +PCL_IO_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_LIBRARY +PCL_IO_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_IO_LIBRARY_DEBUG +PCL_IO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_KDTREE_INCLUDE_DIR +PCL_KDTREE_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_KDTREE_LIBRARY +PCL_KDTREE_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_KDTREE_LIBRARY_DEBUG +PCL_KDTREE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_KEYPOINTS_INCLUDE_DIR +PCL_KEYPOINTS_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_KEYPOINTS_LIBRARY +PCL_KEYPOINTS_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_KEYPOINTS_LIBRARY_DEBUG +PCL_KEYPOINTS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_ML_INCLUDE_DIR +PCL_ML_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_ML_LIBRARY +PCL_ML_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_ML_LIBRARY_DEBUG +PCL_ML_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OCTREE_INCLUDE_DIR +PCL_OCTREE_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OCTREE_LIBRARY +PCL_OCTREE_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OCTREE_LIBRARY_DEBUG +PCL_OCTREE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OUTOFCORE_INCLUDE_DIR +PCL_OUTOFCORE_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OUTOFCORE_LIBRARY +PCL_OUTOFCORE_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_OUTOFCORE_LIBRARY_DEBUG +PCL_OUTOFCORE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_PEOPLE_INCLUDE_DIR +PCL_PEOPLE_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_PEOPLE_LIBRARY +PCL_PEOPLE_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_PEOPLE_LIBRARY_DEBUG +PCL_PEOPLE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_POINT_CLOUD_EDITOR_INCLUDE_DIR +PCL_POINT_CLOUD_EDITOR_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_RECOGNITION_INCLUDE_DIR +PCL_RECOGNITION_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_RECOGNITION_LIBRARY +PCL_RECOGNITION_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_RECOGNITION_LIBRARY_DEBUG +PCL_RECOGNITION_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_REGISTRATION_INCLUDE_DIR +PCL_REGISTRATION_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_REGISTRATION_LIBRARY +PCL_REGISTRATION_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_REGISTRATION_LIBRARY_DEBUG +PCL_REGISTRATION_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SAMPLE_CONSENSUS_INCLUDE_DIR +PCL_SAMPLE_CONSENSUS_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SAMPLE_CONSENSUS_LIBRARY +PCL_SAMPLE_CONSENSUS_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG +PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SEARCH_INCLUDE_DIR +PCL_SEARCH_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SEARCH_LIBRARY +PCL_SEARCH_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SEARCH_LIBRARY_DEBUG +PCL_SEARCH_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SEGMENTATION_INCLUDE_DIR +PCL_SEGMENTATION_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SEGMENTATION_LIBRARY +PCL_SEGMENTATION_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SEGMENTATION_LIBRARY_DEBUG +PCL_SEGMENTATION_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_STEREO_INCLUDE_DIR +PCL_STEREO_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_STEREO_LIBRARY +PCL_STEREO_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_STEREO_LIBRARY_DEBUG +PCL_STEREO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SURFACE_INCLUDE_DIR +PCL_SURFACE_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SURFACE_LIBRARY +PCL_SURFACE_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_SURFACE_LIBRARY_DEBUG +PCL_SURFACE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_TRACKING_INCLUDE_DIR +PCL_TRACKING_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_TRACKING_LIBRARY +PCL_TRACKING_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_TRACKING_LIBRARY_DEBUG +PCL_TRACKING_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_VISUALIZATION_INCLUDE_DIR +PCL_VISUALIZATION_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_VISUALIZATION_LIBRARY +PCL_VISUALIZATION_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: PCL_VISUALIZATION_LIBRARY_DEBUG +PCL_VISUALIZATION_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +PC_EIGEN_CFLAGS:INTERNAL=-I/usr/local/include/eigen3 +PC_EIGEN_CFLAGS_I:INTERNAL= +PC_EIGEN_CFLAGS_OTHER:INTERNAL= +PC_EIGEN_FOUND:INTERNAL=1 +PC_EIGEN_INCLUDEDIR:INTERNAL= 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Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__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(__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 + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#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__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# 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/caim_ws_1.3/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/caim_ws_1.3/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000..b5c91a3 Binary files /dev/null and b/caim_ws_1.3/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ diff --git a/caim_ws_1.3/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/caim_ws_1.3/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..69cfdba --- /dev/null +++ b/caim_ws_1.3/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,660 @@ +/* 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 +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# 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 +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__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(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__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(__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 + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#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(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif 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 > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + 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diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.2OHKr b/caim_ws_1.3/build/atomic_configure/.rosinstall.2OHKr new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.2OHKr @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.8Hwx6 b/caim_ws_1.3/build/atomic_configure/.rosinstall.8Hwx6 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.8Hwx6 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.CH7M8 b/caim_ws_1.3/build/atomic_configure/.rosinstall.CH7M8 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.CH7M8 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.DnTtD b/caim_ws_1.3/build/atomic_configure/.rosinstall.DnTtD new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.DnTtD @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.ELJNb b/caim_ws_1.3/build/atomic_configure/.rosinstall.ELJNb new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.ELJNb @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.FI6J2 b/caim_ws_1.3/build/atomic_configure/.rosinstall.FI6J2 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.FI6J2 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.I8ot9 b/caim_ws_1.3/build/atomic_configure/.rosinstall.I8ot9 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.I8ot9 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.JwJTP b/caim_ws_1.3/build/atomic_configure/.rosinstall.JwJTP new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.JwJTP @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.LltOn b/caim_ws_1.3/build/atomic_configure/.rosinstall.LltOn new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.LltOn @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.T0lAS b/caim_ws_1.3/build/atomic_configure/.rosinstall.T0lAS new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.T0lAS @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.U8tw0 b/caim_ws_1.3/build/atomic_configure/.rosinstall.U8tw0 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.U8tw0 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.WhGQz b/caim_ws_1.3/build/atomic_configure/.rosinstall.WhGQz new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.WhGQz @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.ZpTu6 b/caim_ws_1.3/build/atomic_configure/.rosinstall.ZpTu6 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.ZpTu6 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.cpwy6 b/caim_ws_1.3/build/atomic_configure/.rosinstall.cpwy6 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.cpwy6 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.dXrdx b/caim_ws_1.3/build/atomic_configure/.rosinstall.dXrdx new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.dXrdx @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.isbAa b/caim_ws_1.3/build/atomic_configure/.rosinstall.isbAa new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.isbAa @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.j5gFJ b/caim_ws_1.3/build/atomic_configure/.rosinstall.j5gFJ new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.j5gFJ @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.j7un5 b/caim_ws_1.3/build/atomic_configure/.rosinstall.j7un5 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.j7un5 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.m2RRO b/caim_ws_1.3/build/atomic_configure/.rosinstall.m2RRO new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.m2RRO @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.oS043 b/caim_ws_1.3/build/atomic_configure/.rosinstall.oS043 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.oS043 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.qiRSS b/caim_ws_1.3/build/atomic_configure/.rosinstall.qiRSS new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.qiRSS @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.yLWh1 b/caim_ws_1.3/build/atomic_configure/.rosinstall.yLWh1 new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.yLWh1 @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.yn2wQ b/caim_ws_1.3/build/atomic_configure/.rosinstall.yn2wQ new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.yn2wQ @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/.rosinstall.zRpXl b/caim_ws_1.3/build/atomic_configure/.rosinstall.zRpXl new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/.rosinstall.zRpXl @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/build/atomic_configure/_setup_util.py.0a0RC b/caim_ws_1.3/build/atomic_configure/_setup_util.py.0a0RC new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.0a0RC @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.19JNT b/caim_ws_1.3/build/atomic_configure/_setup_util.py.19JNT new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.19JNT @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.1E4Jl b/caim_ws_1.3/build/atomic_configure/_setup_util.py.1E4Jl new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.1E4Jl @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.6gnuC b/caim_ws_1.3/build/atomic_configure/_setup_util.py.6gnuC new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.6gnuC @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.8q6tS b/caim_ws_1.3/build/atomic_configure/_setup_util.py.8q6tS new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.8q6tS @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.9Ha0C b/caim_ws_1.3/build/atomic_configure/_setup_util.py.9Ha0C new file mode 100755 index 0000000..c8d8434 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.9Ha0C @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.Czzne b/caim_ws_1.3/build/atomic_configure/_setup_util.py.Czzne new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.Czzne @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.FmRxE b/caim_ws_1.3/build/atomic_configure/_setup_util.py.FmRxE new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.FmRxE @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.J6CHn b/caim_ws_1.3/build/atomic_configure/_setup_util.py.J6CHn new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.J6CHn @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.JKaRR b/caim_ws_1.3/build/atomic_configure/_setup_util.py.JKaRR new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.JKaRR @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.JLVWq b/caim_ws_1.3/build/atomic_configure/_setup_util.py.JLVWq new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.JLVWq @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.KH3fN b/caim_ws_1.3/build/atomic_configure/_setup_util.py.KH3fN new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.KH3fN @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.WFFvv b/caim_ws_1.3/build/atomic_configure/_setup_util.py.WFFvv new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.WFFvv @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.WsYn1 b/caim_ws_1.3/build/atomic_configure/_setup_util.py.WsYn1 new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.WsYn1 @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.X2YbE b/caim_ws_1.3/build/atomic_configure/_setup_util.py.X2YbE new file mode 100755 index 0000000..c8d8434 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.X2YbE @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.cUG6s b/caim_ws_1.3/build/atomic_configure/_setup_util.py.cUG6s new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.cUG6s @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.eYQg2 b/caim_ws_1.3/build/atomic_configure/_setup_util.py.eYQg2 new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.eYQg2 @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.nTMEs b/caim_ws_1.3/build/atomic_configure/_setup_util.py.nTMEs new file mode 100755 index 0000000..c8d8434 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.nTMEs @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.qn3yt b/caim_ws_1.3/build/atomic_configure/_setup_util.py.qn3yt new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.qn3yt @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.sSJuc b/caim_ws_1.3/build/atomic_configure/_setup_util.py.sSJuc new file mode 100755 index 0000000..7f25d99 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.sSJuc @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.vIXRe b/caim_ws_1.3/build/atomic_configure/_setup_util.py.vIXRe new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.vIXRe @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.vivkg b/caim_ws_1.3/build/atomic_configure/_setup_util.py.vivkg new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.vivkg @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.wQ8rU b/caim_ws_1.3/build/atomic_configure/_setup_util.py.wQ8rU new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.wQ8rU @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/_setup_util.py.zQbiz b/caim_ws_1.3/build/atomic_configure/_setup_util.py.zQbiz new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/_setup_util.py.zQbiz @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2GC77 b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2GC77 new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2GC77 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2RG9V b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2RG9V new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2RG9V @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2f166 b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2f166 new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.2f166 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.5yJsd b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.5yJsd new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.5yJsd @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.BFIRY b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.BFIRY new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.BFIRY @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.DGktU b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.DGktU new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.DGktU @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.FjGdQ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.FjGdQ new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.FjGdQ @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.KsMHy b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.KsMHy new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.KsMHy @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.Owlvg b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.Owlvg new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.Owlvg @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.RuSp3 b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.RuSp3 new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.RuSp3 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.Xmfno b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.Xmfno new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.Xmfno @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.aqvVE b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.aqvVE new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.aqvVE @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.f0d6y b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.f0d6y new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.f0d6y @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.fc3md b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.fc3md new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.fc3md @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.ne6qL b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.ne6qL new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.ne6qL @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.oHbT7 b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.oHbT7 new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.oHbT7 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.p4L1Y b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.p4L1Y new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.p4L1Y @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.sb8yP b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.sb8yP new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.sb8yP @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.zC5KK b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.zC5KK new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.zC5KK @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.zfLX2 b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.zfLX2 new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/d435_laser_targeting_node.py.zfLX2 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.2H9q5 b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.2H9q5 new file mode 100755 index 0000000..ec2d047 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.2H9q5 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/debug_trigger_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.7ndsk b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.7ndsk new file mode 100755 index 0000000..ec2d047 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.7ndsk @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/debug_trigger_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.YGMfE b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.YGMfE new file mode 100755 index 0000000..ec2d047 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.YGMfE @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/debug_trigger_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.dPa8z b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.dPa8z new file mode 100755 index 0000000..ec2d047 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.dPa8z @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/debug_trigger_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.oYdZM b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.oYdZM new file mode 100755 index 0000000..ec2d047 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/debug_trigger_node.py.oYdZM @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/debug_trigger_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.0ccgH b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.0ccgH new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.0ccgH @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.5DeuH b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.5DeuH new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.5DeuH @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.9YSA9 b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.9YSA9 new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.9YSA9 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.A8I0y b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.A8I0y new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.A8I0y @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.Gw5Gc b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.Gw5Gc new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.Gw5Gc @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.IQKBZ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.IQKBZ new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.IQKBZ @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.M28nN b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.M28nN new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.M28nN @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.PfHRi b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.PfHRi new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.PfHRi @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.UCh7M b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.UCh7M new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.UCh7M @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.WOtDq b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.WOtDq new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.WOtDq @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.fYJiY b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.fYJiY new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.fYJiY @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.r4DuW b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.r4DuW new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.r4DuW @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.tRNrm b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.tRNrm new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.tRNrm @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/depth_aligner.py.yEx6m b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.yEx6m new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/depth_aligner.py.yEx6m @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/env.sh.10hsW b/caim_ws_1.3/build/atomic_configure/env.sh.10hsW new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.10hsW @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.38mJX b/caim_ws_1.3/build/atomic_configure/env.sh.38mJX new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.38mJX @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.DpfQX b/caim_ws_1.3/build/atomic_configure/env.sh.DpfQX new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.DpfQX @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.ESy0H b/caim_ws_1.3/build/atomic_configure/env.sh.ESy0H new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.ESy0H @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.HETrn b/caim_ws_1.3/build/atomic_configure/env.sh.HETrn new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.HETrn @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.IQmzI b/caim_ws_1.3/build/atomic_configure/env.sh.IQmzI new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.IQmzI @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.KKuQd b/caim_ws_1.3/build/atomic_configure/env.sh.KKuQd new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.KKuQd @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.Lpass b/caim_ws_1.3/build/atomic_configure/env.sh.Lpass new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.Lpass @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.RM0T5 b/caim_ws_1.3/build/atomic_configure/env.sh.RM0T5 new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.RM0T5 @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.YpDLk b/caim_ws_1.3/build/atomic_configure/env.sh.YpDLk new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.YpDLk @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.Z9o4x b/caim_ws_1.3/build/atomic_configure/env.sh.Z9o4x new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.Z9o4x @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.ZWgDc b/caim_ws_1.3/build/atomic_configure/env.sh.ZWgDc new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.ZWgDc @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.ZX946 b/caim_ws_1.3/build/atomic_configure/env.sh.ZX946 new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.ZX946 @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.cSUV7 b/caim_ws_1.3/build/atomic_configure/env.sh.cSUV7 new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.cSUV7 @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.fOa2L b/caim_ws_1.3/build/atomic_configure/env.sh.fOa2L new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.fOa2L @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.fdcOa b/caim_ws_1.3/build/atomic_configure/env.sh.fdcOa new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.fdcOa @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.jIpvi b/caim_ws_1.3/build/atomic_configure/env.sh.jIpvi new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.jIpvi @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.mlkWQ b/caim_ws_1.3/build/atomic_configure/env.sh.mlkWQ new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.mlkWQ @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.nA9UG b/caim_ws_1.3/build/atomic_configure/env.sh.nA9UG new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.nA9UG @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.oV1H5 b/caim_ws_1.3/build/atomic_configure/env.sh.oV1H5 new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.oV1H5 @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.ohHzY b/caim_ws_1.3/build/atomic_configure/env.sh.ohHzY new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.ohHzY @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.r2NMm b/caim_ws_1.3/build/atomic_configure/env.sh.r2NMm new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.r2NMm @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.uYepj b/caim_ws_1.3/build/atomic_configure/env.sh.uYepj new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.uYepj @@ -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/caim_ws_1.3/build/atomic_configure/env.sh.zAoqm b/caim_ws_1.3/build/atomic_configure/env.sh.zAoqm new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/env.sh.zAoqm @@ -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 "$@" diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.0pxgM b/caim_ws_1.3/build/atomic_configure/local_setup.bash.0pxgM new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.0pxgM @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.1UDHU b/caim_ws_1.3/build/atomic_configure/local_setup.bash.1UDHU new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.1UDHU @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.1iGBV b/caim_ws_1.3/build/atomic_configure/local_setup.bash.1iGBV new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.1iGBV @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.3fbQt b/caim_ws_1.3/build/atomic_configure/local_setup.bash.3fbQt new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.3fbQt @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.3yvty b/caim_ws_1.3/build/atomic_configure/local_setup.bash.3yvty new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.3yvty @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.5EE2l b/caim_ws_1.3/build/atomic_configure/local_setup.bash.5EE2l new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.5EE2l @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.5fBxs b/caim_ws_1.3/build/atomic_configure/local_setup.bash.5fBxs new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.5fBxs @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.91Ew0 b/caim_ws_1.3/build/atomic_configure/local_setup.bash.91Ew0 new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.91Ew0 @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.C8fsD b/caim_ws_1.3/build/atomic_configure/local_setup.bash.C8fsD new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.C8fsD @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.DNvfQ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.DNvfQ new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.DNvfQ @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.Evvbh b/caim_ws_1.3/build/atomic_configure/local_setup.bash.Evvbh new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.Evvbh @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.FInEP b/caim_ws_1.3/build/atomic_configure/local_setup.bash.FInEP new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.FInEP @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.PA30o b/caim_ws_1.3/build/atomic_configure/local_setup.bash.PA30o new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.PA30o @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.Rpjqe b/caim_ws_1.3/build/atomic_configure/local_setup.bash.Rpjqe new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.Rpjqe @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.YyArK b/caim_ws_1.3/build/atomic_configure/local_setup.bash.YyArK new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.YyArK @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.YzdIB b/caim_ws_1.3/build/atomic_configure/local_setup.bash.YzdIB new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.YzdIB @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.cVIWW b/caim_ws_1.3/build/atomic_configure/local_setup.bash.cVIWW new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.cVIWW @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.e2gLM b/caim_ws_1.3/build/atomic_configure/local_setup.bash.e2gLM new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.e2gLM @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.hJceQ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.hJceQ new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.hJceQ @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.hyVJw b/caim_ws_1.3/build/atomic_configure/local_setup.bash.hyVJw new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.hyVJw @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.pTRN1 b/caim_ws_1.3/build/atomic_configure/local_setup.bash.pTRN1 new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.pTRN1 @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.sBGdd b/caim_ws_1.3/build/atomic_configure/local_setup.bash.sBGdd new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.sBGdd @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.vvXPE b/caim_ws_1.3/build/atomic_configure/local_setup.bash.vvXPE new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.vvXPE @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.bash.y6q7B b/caim_ws_1.3/build/atomic_configure/local_setup.bash.y6q7B new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.bash.y6q7B @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.fish.0KJzL b/caim_ws_1.3/build/atomic_configure/local_setup.fish.0KJzL new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.0KJzL @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.9YsxO b/caim_ws_1.3/build/atomic_configure/local_setup.fish.9YsxO new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.9YsxO @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.9oG9u b/caim_ws_1.3/build/atomic_configure/local_setup.fish.9oG9u new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.9oG9u @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.GJJlT b/caim_ws_1.3/build/atomic_configure/local_setup.fish.GJJlT new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.GJJlT @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.LJi51 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.LJi51 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.LJi51 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.PSVb6 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.PSVb6 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.PSVb6 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.SqgnJ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.SqgnJ new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.SqgnJ @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.TrK0j b/caim_ws_1.3/build/atomic_configure/local_setup.fish.TrK0j new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.TrK0j @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.U1i8Z b/caim_ws_1.3/build/atomic_configure/local_setup.fish.U1i8Z new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.U1i8Z @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.XdT95 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.XdT95 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.XdT95 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.Y0a25 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.Y0a25 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.Y0a25 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.YMGu3 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.YMGu3 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.YMGu3 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.akZ50 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.akZ50 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.akZ50 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.bxkP2 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.bxkP2 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.bxkP2 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.dHlU3 b/caim_ws_1.3/build/atomic_configure/local_setup.fish.dHlU3 new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.dHlU3 @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.fveRb b/caim_ws_1.3/build/atomic_configure/local_setup.fish.fveRb new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.fveRb @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.gpPSP b/caim_ws_1.3/build/atomic_configure/local_setup.fish.gpPSP new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.gpPSP @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.jdFZw b/caim_ws_1.3/build/atomic_configure/local_setup.fish.jdFZw new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.jdFZw @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.kmx6S b/caim_ws_1.3/build/atomic_configure/local_setup.fish.kmx6S new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.kmx6S @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.sioPP b/caim_ws_1.3/build/atomic_configure/local_setup.fish.sioPP new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.sioPP @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.ubF9g b/caim_ws_1.3/build/atomic_configure/local_setup.fish.ubF9g new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.ubF9g @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.xnv7r b/caim_ws_1.3/build/atomic_configure/local_setup.fish.xnv7r new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.xnv7r @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.xqWJn b/caim_ws_1.3/build/atomic_configure/local_setup.fish.xqWJn new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.xqWJn @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.fish.xxP1V b/caim_ws_1.3/build/atomic_configure/local_setup.fish.xxP1V new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.fish.xxP1V @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.0wb5p b/caim_ws_1.3/build/atomic_configure/local_setup.sh.0wb5p new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.0wb5p @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.1l3Bp b/caim_ws_1.3/build/atomic_configure/local_setup.sh.1l3Bp new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.1l3Bp @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.3sXRQ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.3sXRQ new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.3sXRQ @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.6SyB6 b/caim_ws_1.3/build/atomic_configure/local_setup.sh.6SyB6 new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.6SyB6 @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.Bv5lz b/caim_ws_1.3/build/atomic_configure/local_setup.sh.Bv5lz new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.Bv5lz @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.CSilb b/caim_ws_1.3/build/atomic_configure/local_setup.sh.CSilb new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.CSilb @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.ExSHY b/caim_ws_1.3/build/atomic_configure/local_setup.sh.ExSHY new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.ExSHY @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.Io73r b/caim_ws_1.3/build/atomic_configure/local_setup.sh.Io73r new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.Io73r @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.JvNd7 b/caim_ws_1.3/build/atomic_configure/local_setup.sh.JvNd7 new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.JvNd7 @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.LhOpF b/caim_ws_1.3/build/atomic_configure/local_setup.sh.LhOpF new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.LhOpF @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.PoylK b/caim_ws_1.3/build/atomic_configure/local_setup.sh.PoylK new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.PoylK @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.SAd06 b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SAd06 new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SAd06 @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.SQDEF b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SQDEF new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SQDEF @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.SeHV8 b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SeHV8 new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SeHV8 @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.SiH2m b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SiH2m new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.SiH2m @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.nxWG1 b/caim_ws_1.3/build/atomic_configure/local_setup.sh.nxWG1 new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.nxWG1 @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.rJE1B b/caim_ws_1.3/build/atomic_configure/local_setup.sh.rJE1B new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.rJE1B @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.sF3st b/caim_ws_1.3/build/atomic_configure/local_setup.sh.sF3st new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.sF3st @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.sMclj b/caim_ws_1.3/build/atomic_configure/local_setup.sh.sMclj new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.sMclj @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.swtZr b/caim_ws_1.3/build/atomic_configure/local_setup.sh.swtZr new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.swtZr @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.wKjuZ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.wKjuZ new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.wKjuZ @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.wgZgb b/caim_ws_1.3/build/atomic_configure/local_setup.sh.wgZgb new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.wgZgb @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.zOLSu b/caim_ws_1.3/build/atomic_configure/local_setup.sh.zOLSu new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.zOLSu @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.sh.zjGZt b/caim_ws_1.3/build/atomic_configure/local_setup.sh.zjGZt new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.sh.zjGZt @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/atomic_configure/local_setup.zsh.1nC7h b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.1nC7h new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.1nC7h @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.3IQr3 b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.3IQr3 new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.3IQr3 @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.8wgnx b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.8wgnx new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.8wgnx @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.9CpiC b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.9CpiC new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.9CpiC @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.9e1gH b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.9e1gH new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.9e1gH @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.AgWiw b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.AgWiw new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.AgWiw @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.G8bF3 b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.G8bF3 new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.G8bF3 @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.KeQ2f b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.KeQ2f new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.KeQ2f @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.MSpxH b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.MSpxH new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.MSpxH @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.OnLBA b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.OnLBA new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.OnLBA @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.R90zR b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.R90zR new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.R90zR @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.ZKz7i b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.ZKz7i new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.ZKz7i @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.muhg6 b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.muhg6 new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.muhg6 @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.nuAO9 b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.nuAO9 new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.nuAO9 @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.pHPPv b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.pHPPv new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.pHPPv @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.scjzh b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.scjzh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.scjzh @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.tBdQv b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.tBdQv new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.tBdQv @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.wJ3qd b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.wJ3qd new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.wJ3qd @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xNEQh b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xNEQh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xNEQh @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xXX6E b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xXX6E new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xXX6E @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xy2dC b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xy2dC new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.xy2dC @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.yNhi8 b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.yNhi8 new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.yNhi8 @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.yeVXv b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.yeVXv new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.yeVXv @@ -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/caim_ws_1.3/build/atomic_configure/local_setup.zsh.zCHSd b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.zCHSd new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/local_setup.zsh.zCHSd @@ -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/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.IjLRt b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.IjLRt new file mode 100755 index 0000000..b5484d5 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.IjLRt @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/route_visualizer_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.XhGmc b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.XhGmc new file mode 100755 index 0000000..b5484d5 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.XhGmc @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/route_visualizer_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.xgt4M b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.xgt4M new file mode 100755 index 0000000..b5484d5 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.xgt4M @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/route_visualizer_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.ynFo2 b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.ynFo2 new file mode 100755 index 0000000..b5484d5 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/route_visualizer_node.py.ynFo2 @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/route_visualizer_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.1Vl8F b/caim_ws_1.3/build/atomic_configure/setup.bash.1Vl8F new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.1Vl8F @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.1lRad b/caim_ws_1.3/build/atomic_configure/setup.bash.1lRad new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.1lRad @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.4Uuhl b/caim_ws_1.3/build/atomic_configure/setup.bash.4Uuhl new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.4Uuhl @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.4lpe9 b/caim_ws_1.3/build/atomic_configure/setup.bash.4lpe9 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.4lpe9 @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.57Y73 b/caim_ws_1.3/build/atomic_configure/setup.bash.57Y73 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.57Y73 @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.68F5X b/caim_ws_1.3/build/atomic_configure/setup.bash.68F5X new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.68F5X @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.80WRN b/caim_ws_1.3/build/atomic_configure/setup.bash.80WRN new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.80WRN @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.9hpM9 b/caim_ws_1.3/build/atomic_configure/setup.bash.9hpM9 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.9hpM9 @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.A4OKm b/caim_ws_1.3/build/atomic_configure/setup.bash.A4OKm new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.A4OKm @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.AeaIv b/caim_ws_1.3/build/atomic_configure/setup.bash.AeaIv new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.AeaIv @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.CmAs7 b/caim_ws_1.3/build/atomic_configure/setup.bash.CmAs7 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.CmAs7 @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.GAYFa b/caim_ws_1.3/build/atomic_configure/setup.bash.GAYFa new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.GAYFa @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.MNLSe b/caim_ws_1.3/build/atomic_configure/setup.bash.MNLSe new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.MNLSe @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.QrXiI b/caim_ws_1.3/build/atomic_configure/setup.bash.QrXiI new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.QrXiI @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.R4K2u b/caim_ws_1.3/build/atomic_configure/setup.bash.R4K2u new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.R4K2u @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.ZCO9C b/caim_ws_1.3/build/atomic_configure/setup.bash.ZCO9C new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.ZCO9C @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.gUWcy b/caim_ws_1.3/build/atomic_configure/setup.bash.gUWcy new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.gUWcy @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.hY9JZ b/caim_ws_1.3/build/atomic_configure/setup.bash.hY9JZ new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.hY9JZ @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.kLZ13 b/caim_ws_1.3/build/atomic_configure/setup.bash.kLZ13 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.kLZ13 @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.p9lm8 b/caim_ws_1.3/build/atomic_configure/setup.bash.p9lm8 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.p9lm8 @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.q8aJd b/caim_ws_1.3/build/atomic_configure/setup.bash.q8aJd new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.q8aJd @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.rmq3w b/caim_ws_1.3/build/atomic_configure/setup.bash.rmq3w new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.rmq3w @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.vS5TR b/caim_ws_1.3/build/atomic_configure/setup.bash.vS5TR new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.vS5TR @@ -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) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.bash.zKVs5 b/caim_ws_1.3/build/atomic_configure/setup.bash.zKVs5 new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.bash.zKVs5 @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.AEg22 b/caim_ws_1.3/build/atomic_configure/setup.fish.AEg22 new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.AEg22 @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.BhaNp b/caim_ws_1.3/build/atomic_configure/setup.fish.BhaNp new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.BhaNp @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.Cnz6y b/caim_ws_1.3/build/atomic_configure/setup.fish.Cnz6y new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.Cnz6y @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.CzL5o b/caim_ws_1.3/build/atomic_configure/setup.fish.CzL5o new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.CzL5o @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.DD8aS b/caim_ws_1.3/build/atomic_configure/setup.fish.DD8aS new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.DD8aS @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.GN1fU b/caim_ws_1.3/build/atomic_configure/setup.fish.GN1fU new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.GN1fU @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.GwkMO b/caim_ws_1.3/build/atomic_configure/setup.fish.GwkMO new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.GwkMO @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.IvAzO b/caim_ws_1.3/build/atomic_configure/setup.fish.IvAzO new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.IvAzO @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.ORihc b/caim_ws_1.3/build/atomic_configure/setup.fish.ORihc new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.ORihc @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.OlU9V b/caim_ws_1.3/build/atomic_configure/setup.fish.OlU9V new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.OlU9V @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.P9rrp b/caim_ws_1.3/build/atomic_configure/setup.fish.P9rrp new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.P9rrp @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.QfCQ3 b/caim_ws_1.3/build/atomic_configure/setup.fish.QfCQ3 new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.QfCQ3 @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.Y9XN7 b/caim_ws_1.3/build/atomic_configure/setup.fish.Y9XN7 new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.Y9XN7 @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.agF4v b/caim_ws_1.3/build/atomic_configure/setup.fish.agF4v new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.agF4v @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.frR5H b/caim_ws_1.3/build/atomic_configure/setup.fish.frR5H new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.frR5H @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.lVUXo b/caim_ws_1.3/build/atomic_configure/setup.fish.lVUXo new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.lVUXo @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.lm6Be b/caim_ws_1.3/build/atomic_configure/setup.fish.lm6Be new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.lm6Be @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.mwxOt b/caim_ws_1.3/build/atomic_configure/setup.fish.mwxOt new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.mwxOt @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.r3yKM b/caim_ws_1.3/build/atomic_configure/setup.fish.r3yKM new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.r3yKM @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.vc2RA b/caim_ws_1.3/build/atomic_configure/setup.fish.vc2RA new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.vc2RA @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.w2QIM b/caim_ws_1.3/build/atomic_configure/setup.fish.w2QIM new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.w2QIM @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.xqYjT b/caim_ws_1.3/build/atomic_configure/setup.fish.xqYjT new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.xqYjT @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.ybDHO b/caim_ws_1.3/build/atomic_configure/setup.fish.ybDHO new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.ybDHO @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.fish.z0yrK b/caim_ws_1.3/build/atomic_configure/setup.fish.z0yrK new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.fish.z0yrK @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/atomic_configure/setup.sh.4ZrJH b/caim_ws_1.3/build/atomic_configure/setup.sh.4ZrJH new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.4ZrJH @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.5vecY b/caim_ws_1.3/build/atomic_configure/setup.sh.5vecY new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.5vecY @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.HQIwV b/caim_ws_1.3/build/atomic_configure/setup.sh.HQIwV new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.HQIwV @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.HZrlh b/caim_ws_1.3/build/atomic_configure/setup.sh.HZrlh new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.HZrlh @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.LT0uP b/caim_ws_1.3/build/atomic_configure/setup.sh.LT0uP new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.LT0uP @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.Mq6w4 b/caim_ws_1.3/build/atomic_configure/setup.sh.Mq6w4 new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.Mq6w4 @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.Nf9Ai b/caim_ws_1.3/build/atomic_configure/setup.sh.Nf9Ai new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.Nf9Ai @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.SSNYd b/caim_ws_1.3/build/atomic_configure/setup.sh.SSNYd new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.SSNYd @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.TgQMr b/caim_ws_1.3/build/atomic_configure/setup.sh.TgQMr new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.TgQMr @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.UIbCE b/caim_ws_1.3/build/atomic_configure/setup.sh.UIbCE new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.UIbCE @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.clBIB b/caim_ws_1.3/build/atomic_configure/setup.sh.clBIB new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.clBIB @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.eRT2B b/caim_ws_1.3/build/atomic_configure/setup.sh.eRT2B new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.eRT2B @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.fFvBh b/caim_ws_1.3/build/atomic_configure/setup.sh.fFvBh new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.fFvBh @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.gtpph b/caim_ws_1.3/build/atomic_configure/setup.sh.gtpph new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.gtpph @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.hKSRo b/caim_ws_1.3/build/atomic_configure/setup.sh.hKSRo new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.hKSRo @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.jI8tk b/caim_ws_1.3/build/atomic_configure/setup.sh.jI8tk new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.jI8tk @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.lyvjU b/caim_ws_1.3/build/atomic_configure/setup.sh.lyvjU new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.lyvjU @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.mdvHD b/caim_ws_1.3/build/atomic_configure/setup.sh.mdvHD new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.mdvHD @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.roZVe b/caim_ws_1.3/build/atomic_configure/setup.sh.roZVe new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.roZVe @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.t6Egb b/caim_ws_1.3/build/atomic_configure/setup.sh.t6Egb new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.t6Egb @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.tso8r b/caim_ws_1.3/build/atomic_configure/setup.sh.tso8r new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.tso8r @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.ujyCu b/caim_ws_1.3/build/atomic_configure/setup.sh.ujyCu new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.ujyCu @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.xuR9V b/caim_ws_1.3/build/atomic_configure/setup.sh.xuR9V new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.xuR9V @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.sh.y6VlR b/caim_ws_1.3/build/atomic_configure/setup.sh.y6VlR new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.sh.y6VlR @@ -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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/atomic_configure/setup.zsh.2j4LZ b/caim_ws_1.3/build/atomic_configure/setup.zsh.2j4LZ new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.2j4LZ @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.6C83M b/caim_ws_1.3/build/atomic_configure/setup.zsh.6C83M new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.6C83M @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.6pbzk b/caim_ws_1.3/build/atomic_configure/setup.zsh.6pbzk new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.6pbzk @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.CD16u b/caim_ws_1.3/build/atomic_configure/setup.zsh.CD16u new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.CD16u @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.Hr7ta b/caim_ws_1.3/build/atomic_configure/setup.zsh.Hr7ta new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.Hr7ta @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.I89zm b/caim_ws_1.3/build/atomic_configure/setup.zsh.I89zm new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.I89zm @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.Jyseb b/caim_ws_1.3/build/atomic_configure/setup.zsh.Jyseb new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.Jyseb @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.LoARN b/caim_ws_1.3/build/atomic_configure/setup.zsh.LoARN new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.LoARN @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.MrrU2 b/caim_ws_1.3/build/atomic_configure/setup.zsh.MrrU2 new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.MrrU2 @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.OT9hS b/caim_ws_1.3/build/atomic_configure/setup.zsh.OT9hS new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.OT9hS @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.OvaWP b/caim_ws_1.3/build/atomic_configure/setup.zsh.OvaWP new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.OvaWP @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.QplA9 b/caim_ws_1.3/build/atomic_configure/setup.zsh.QplA9 new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.QplA9 @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.U08kz b/caim_ws_1.3/build/atomic_configure/setup.zsh.U08kz new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.U08kz @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.bG62w b/caim_ws_1.3/build/atomic_configure/setup.zsh.bG62w new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.bG62w @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.e7kcv b/caim_ws_1.3/build/atomic_configure/setup.zsh.e7kcv new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.e7kcv @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.fHjiC b/caim_ws_1.3/build/atomic_configure/setup.zsh.fHjiC new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.fHjiC @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.jA34I b/caim_ws_1.3/build/atomic_configure/setup.zsh.jA34I new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.jA34I @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.lNbj2 b/caim_ws_1.3/build/atomic_configure/setup.zsh.lNbj2 new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.lNbj2 @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.ml85J b/caim_ws_1.3/build/atomic_configure/setup.zsh.ml85J new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.ml85J @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.mp2hF b/caim_ws_1.3/build/atomic_configure/setup.zsh.mp2hF new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.mp2hF @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.o5LSj b/caim_ws_1.3/build/atomic_configure/setup.zsh.o5LSj new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.o5LSj @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.ogBCA b/caim_ws_1.3/build/atomic_configure/setup.zsh.ogBCA new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.ogBCA @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.wRP5p b/caim_ws_1.3/build/atomic_configure/setup.zsh.wRP5p new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.wRP5p @@ -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/caim_ws_1.3/build/atomic_configure/setup.zsh.yCAUq b/caim_ws_1.3/build/atomic_configure/setup.zsh.yCAUq new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/setup.zsh.yCAUq @@ -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/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.JefDc b/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.JefDc new file mode 100755 index 0000000..0345044 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.JefDc @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_camera_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.WPtdr b/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.WPtdr new file mode 100755 index 0000000..0345044 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.WPtdr @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_camera_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.twIpM b/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.twIpM new file mode 100755 index 0000000..0345044 --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/usb_camera_node.py.twIpM @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_camera_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.IXkhv b/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.IXkhv new file mode 100755 index 0000000..228a5cb --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.IXkhv @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.TWG1L b/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.TWG1L new file mode 100755 index 0000000..228a5cb --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.TWG1L @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.YZ3Tq b/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.YZ3Tq new file mode 100755 index 0000000..228a5cb --- /dev/null +++ b/caim_ws_1.3/build/atomic_configure/usb_targeting_node.py.YZ3Tq @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/build/caim_core/CMakeFiles/CMakeDirectoryInformation.cmake b/caim_ws_1.3/build/caim_core/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..b6a2a30 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,16 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Relative path conversion top directories. +set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/yekai/caim_ws/src") +set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/yekai/caim_ws/build") + +# Force unix paths in dependencies. +set(CMAKE_FORCE_UNIX_PATHS 1) + + +# The C and CXX include file regular expressions for this directory. +set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") +set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$") +set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN}) +set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN}) diff --git a/caim_ws_1.3/build/caim_core/CMakeFiles/actionlib_generate_messages_cpp.dir/DependInfo.cmake b/caim_ws_1.3/build/caim_core/CMakeFiles/actionlib_generate_messages_cpp.dir/DependInfo.cmake new file mode 100644 index 0000000..19fab21 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/CMakeFiles/actionlib_generate_messages_cpp.dir/DependInfo.cmake @@ -0,0 +1,11 @@ +# The set of 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/opt/ros/noetic/lib/libdynamic_reconfigure_config_init_mutex.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libnodeletlib.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libbondcpp.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libuuid.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libpcl_common.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libpcl_octree.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libpcl_io.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libboost_system.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libboost_filesystem.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libboost_date_time.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libboost_iostreams.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libboost_regex.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkChartsCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonColor-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtksys-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonMath-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonMisc-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonSystem-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersGeneral-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkInfovisCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersExtraction-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersStatistics-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkImagingFourier-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkImagingCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkalglib-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingContext2D-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersGeometry-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersSources-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeType-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libfreetype.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libz.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersModeling-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkImagingSources-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkInteractionStyle-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkInteractionWidgets-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkFiltersHybrid-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkImagingColor-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkImagingGeneral-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkImagingHybrid-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOImage-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkDICOMParser-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkmetaio-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libjpeg.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libpng.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libtiff.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingAnnotation-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingVolume-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOXML-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOXMLParser-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libexpat.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOGeometry-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOLegacy-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkIOPLY-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingLOD-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkViewsContext2D-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkViewsCore-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingContextOpenGL2-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL2-7.1.so.7.1p.1 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/librosbag.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/librosbag_storage.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libroslz4.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/liblz4.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libtopic_tools.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libtf.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libtf2_ros.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libactionlib.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libtf2.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /opt/ros/noetic/lib/libcv_bridge.so +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0 +/home/yekai/caim_ws/devel/lib/caim_core/position_node: 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src/d435_color_view_node.s" + @echo "... src/downward_visual_detector_node.o" + @echo "... src/downward_visual_detector_node.i" + @echo "... src/downward_visual_detector_node.s" + @echo "... src/pillar_detector_node.o" + @echo "... src/pillar_detector_node.i" + @echo "... src/pillar_detector_node.s" + @echo "... src/position_node.o" + @echo "... src/position_node.i" + @echo "... src/position_node.s" + @echo "... src/trajectory_executor_node.o" + @echo "... src/trajectory_executor_node.i" + @echo "... src/trajectory_executor_node.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/yekai/caim_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_core.pc b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_core.pc new file mode 100644 index 0000000..c3566b3 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_core.pc @@ -0,0 +1,8 @@ +prefix=/home/yekai/caim_ws/install + +Name: caim_core +Description: Description of caim_core +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_coreConfig-version.cmake b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_coreConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_coreConfig-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/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_coreConfig.cmake b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_coreConfig.cmake new file mode 100644 index 0000000..6f6d7a7 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/caim_coreConfig.cmake @@ -0,0 +1,225 @@ +# 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(caim_core_CONFIG_INCLUDED) + return() +endif() +set(caim_core_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(caim_core_SOURCE_PREFIX /home/yekai/caim_ws/src/caim_core) + set(caim_core_DEVEL_PREFIX /home/yekai/caim_ws/devel) + set(caim_core_INSTALL_PREFIX "") + set(caim_core_PREFIX ${caim_core_DEVEL_PREFIX}) +else() + set(caim_core_SOURCE_PREFIX "") + set(caim_core_DEVEL_PREFIX "") + set(caim_core_INSTALL_PREFIX /home/yekai/caim_ws/install) + set(caim_core_PREFIX ${caim_core_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'caim_core' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(caim_core_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(caim_core_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 'yekai ' 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 "${caim_core_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'caim_core' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'caim_core' specifies '${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(caim_core_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND caim_core_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND caim_core_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 caim_core_NUM_DUMMY_TARGETS) + set(caim_core_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::caim_core::wrapped-linker-option${caim_core_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR caim_core_NUM_DUMMY_TARGETS "${caim_core_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::caim_core::wrapped-linker-option${caim_core_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 caim_core_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND caim_core_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND caim_core_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND caim_core_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/yekai/caim_ws/install/lib;/home/yekai/caim_ws/devel/lib;/home/yekai/realsense_ros_gazebo/devel/lib;/home/yekai/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(caim_core_LIBRARY_DIRS ${lib_path}) + list(APPEND caim_core_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 'caim_core'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND caim_core_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(caim_core_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${caim_core_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 caim_core_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${caim_core_dep}_FOUND) + find_package(${caim_core_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${caim_core_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(caim_core_INCLUDE_DIRS ${${caim_core_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(caim_core_LIBRARIES ${caim_core_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${caim_core_dep}_LIBRARIES}) + _list_append_deduplicate(caim_core_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(caim_core_LIBRARIES ${caim_core_LIBRARIES}) + + _list_append_unique(caim_core_LIBRARY_DIRS ${${caim_core_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(caim_core_EXPORTED_TARGETS ${${caim_core_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${caim_core_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/installspace/d435_laser_targeting_node.py b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/d435_laser_targeting_node.py new file mode 100755 index 0000000..b82f369 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/d435_laser_targeting_node.py @@ -0,0 +1,229 @@ +#!/home/yekai/anaconda3/envs/yolo11/bin/python3 +# -*- coding: utf-8 -*- + +"""第二次转向后，在飞向投放点过程中判断 A/B 的画面左右关系。""" + +import cv2 +import numpy as np +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +from ultralytics import YOLO + + +class D435TargetYolo: + def __init__(self): + rospy.init_node("d435_target_check_node") + + self.is_detecting = False + self.start_time = None + self.stable_start_time = None + self.stable_layout = None + self.is_processing = False + + model_path = rospy.get_param("~model_path", "/home/yekai/yolo11_runs/yolo11n_custom-2/weights/best.pt") + self.conf_thresh = rospy.get_param("~conf_thresh", 0.60) + self.camera_topic = rospy.get_param( + "~camera_topic", "/camera/color/image_raw") + self.timeout_duration = rospy.get_param("~timeout_duration", 5.0) + self.stable_confirm_duration = rospy.get_param( + "~stable_confirm_duration", 0.5) + self.class_a = str(rospy.get_param("~class_a", "A")).lower() + self.class_b = str(rospy.get_param("~class_b", "B")).lower() + self.min_horizontal_separation_px = int(rospy.get_param( + "~min_horizontal_separation_px", 20)) + self.show_gui = rospy.get_param("~show_gui", True) + self.window_name = rospy.get_param( + "~window_name", "CAIM Distant A/B Layout") + + self.result_pub = rospy.Publisher( + "/caim/target_recognition_result", String, queue_size=10) + rospy.Subscriber( + "/caim/target_recognition_cmd", String, self.cmd_callback, + queue_size=1) + + rospy.loginfo( + "[D435] Loading YOLO model: %s (confidence %.2f)", + model_path, self.conf_thresh) + self.model = YOLO(model_path) + rospy.loginfo( + "[D435] Ready for distant A/B layout recognition. " + "classes=(%s,%s)", self.class_a, self.class_b) + + self.image_sub = rospy.Subscriber( + self.camera_topic, Image, self.image_callback, + queue_size=1, buff_size=2 ** 24) + + def reset_tracking(self): + self.stable_start_time = None + self.stable_layout = None + + def cmd_callback(self, msg): + command = msg.data.strip().upper() + if command == "STOP": + self.is_detecting = False + self.reset_tracking() + rospy.loginfo("[D435] Recognition stopped; entering standby.") + return + + if command == "START_AB_LAYOUT": + self.is_detecting = True + self.start_time = rospy.Time.now() + self.reset_tracking() + rospy.loginfo( + "[D435] Starting distant A/B layout recognition; " + "stable time %.1fs, timeout %.1fs.", + self.stable_confirm_duration, self.timeout_duration) + + def best_ab_detections(self, result): + """返回本帧中置信度最高的 A、B 框及其横向中心。""" + detections = {} + for box in result.boxes: + class_id = int(box.cls[0]) + class_name = str(self.model.names[class_id]).lower() + if class_name not in (self.class_a, self.class_b): + continue + + confidence = float(box.conf[0]) + if class_name in detections and \ + confidence <= detections[class_name]["confidence"]: + continue + + x1, y1, x2, y2 = [float(value) for value in box.xyxy[0]] + detections[class_name] = { + "confidence": confidence, + "center_x": (x1 + x2) * 0.5, + "box": (int(x1), int(y1), int(x2), int(y2)), + } + return detections + + def publish_result(self, result): + self.result_pub.publish(result) + self.is_detecting = False + self.reset_tracking() + + def draw_detection(self, image, label, detection, color): + x1, y1, x2, y2 = detection["box"] + cv2.rectangle(image, (x1, y1), (x2, y2), color, 2) + cv2.putText( + image, + "{} {:.2f}".format(label, detection["confidence"]), + (x1, max(24, y1 - 8)), cv2.FONT_HERSHEY_SIMPLEX, + 0.7, color, 2) + + def process_frame(self, cv_image): + display = cv_image.copy() + if not self.is_detecting: + cv2.putText( + display, "Standby - waiting for START_AB_LAYOUT", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2) + self.show(display) + return + + if self.is_processing: + return + self.is_processing = True + + try: + now = rospy.Time.now() + result = self.model( + cv_image, verbose=False, conf=self.conf_thresh)[0] + detections = self.best_ab_detections(result) + a_detection = detections.get(self.class_a) + b_detection = detections.get(self.class_b) + + if a_detection: + self.draw_detection(display, "A", a_detection, (0, 255, 0)) + if b_detection: + self.draw_detection(display, "B", b_detection, (255, 128, 0)) + + layout = None + if a_detection and b_detection: + separation = abs( + a_detection["center_x"] - b_detection["center_x"]) + if separation >= self.min_horizontal_separation_px: + layout = ( + "A_LEFT" if a_detection["center_x"] < + b_detection["center_x"] else "A_RIGHT") + + if layout is not None: + if layout != self.stable_layout: + self.stable_layout = layout + self.stable_start_time = now + + stable_elapsed = ( + now - self.stable_start_time).to_sec() + cv2.putText( + display, + "{} {:.1f}/{:.1f}s".format( + layout, stable_elapsed, + self.stable_confirm_duration), + (20, 40), cv2.FONT_HERSHEY_SIMPLEX, + 0.8, (0, 255, 255), 2) + + if stable_elapsed >= self.stable_confirm_duration: + rospy.loginfo( + "[D435] Stable distant layout confirmed: %s", layout) + self.publish_result(layout) + else: + self.reset_tracking() + cv2.putText( + display, "Searching for both A and B...", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 165, 255), 2) + + if self.is_detecting and self.start_time is not None and \ + (now - self.start_time).to_sec() > self.timeout_duration: + rospy.logwarn( + "[D435] A/B layout recognition timed out; requesting retry.") + self.publish_result("UNKNOWN") + + self.show(display) + except Exception as error: + rospy.logerr_throttle(1.0, "[D435] YOLO error: %s", error) + finally: + self.is_processing = False + + def show(self, image): + if self.show_gui: + cv2.imshow(self.window_name, image) + cv2.waitKey(1) + + def image_callback(self, msg): + try: + channels = 4 if msg.encoding in ("bgra8", "rgba8") else 3 + row_bytes = msg.width * channels + raw_rows = np.frombuffer(msg.data, dtype=np.uint8).reshape( + msg.height, msg.step) + frame = raw_rows[:, :row_bytes].reshape( + msg.height, msg.width, channels) + + if msg.encoding == "rgb8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + elif msg.encoding == "rgba8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGBA2BGR) + elif msg.encoding == "bgra8": + frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR) + elif msg.encoding != "bgr8": + rospy.logwarn_throttle( + 2.0, "[D435] Unsupported image encoding: %s", msg.encoding) + return + + self.process_frame(frame) + except Exception as error: + rospy.logerr_throttle(1.0, "[D435] Image decode error: %s", error) + + def clean_up(self): + if self.show_gui: + cv2.destroyAllWindows() + + +if __name__ == "__main__": + node = None + try: + node = D435TargetYolo() + rospy.spin() + except rospy.ROSInterruptException: + pass + finally: + if node is not None: + node.clean_up() diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/installspace/depth_aligner.py b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/depth_aligner.py new file mode 100755 index 0000000..95cc94e --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/depth_aligner.py @@ -0,0 +1,127 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import rospy +import numpy as np +import cv2 +from cv_bridge import CvBridge, CvBridgeError +import message_filters +from sensor_msgs.msg import Image, CameraInfo + +class DepthAligner: + def __init__(self): + rospy.init_node('depth_aligner', anonymous=True) + self.bridge = CvBridge() + + # 相机参数初始化 + self.K_color = None + self.K_depth = None + self.color_camera_info = None + self.depth_camera_info = None + + # 🌟 1. 发布器（保持不变，它假装自己是官方对齐节点发布数据） + self.aligned_pub = rospy.Publisher("/camera/aligned_depth/image_raw", Image, queue_size=1) + self.aligned_info_pub = rospy.Publisher("/camera/aligned_depth/camera_info", CameraInfo, queue_size=1) + + # 订阅相机信息 + rospy.Subscriber("/camera/color/camera_info", CameraInfo, self.color_info_callback) + rospy.Subscriber("/camera/depth/camera_info", CameraInfo, self.depth_info_callback) + + # 🌟 2. 核心修改：真机 D435 的深度图原始话题通常带 rect (已畸变校正) + color_sub = message_filters.Subscriber("/camera/color/image_raw", Image) + depth_sub = message_filters.Subscriber("/camera/depth/image_rect_raw", Image) + + # 时间同步 (真机帧率可能波动，slop 稍微放宽一点) + ts = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=10, slop=0.1) + ts.registerCallback(self.alignment_callback) + + rospy.loginfo("【真机适配版】深度手动对齐节点已启动，后台静默运行中...") + + def color_info_callback(self, msg): + """更新彩色相机内参""" + if self.color_camera_info is None: + rospy.loginfo("成功接收真实彩色相机内参") + self.color_camera_info = msg + self.K_color = np.array(msg.K).reshape(3,3) + + def depth_info_callback(self, msg): + """更新深度相机内参""" + if self.depth_camera_info is None: + rospy.loginfo("成功接收真实深度相机内参") + self.depth_camera_info = msg + self.K_depth = np.array(msg.K).reshape(3,3) + + # 🌟 3. 核心修改：真机 D435 的真实物理外参（深度红外镜头到RGB镜头的距离） + # D435 的设计基线大约是 14.8 毫米 (0.0148m) + self.R = np.eye(3, dtype=np.float32) + self.t = np.array([0.0148, 0, 0], dtype=np.float32) + + def alignment_callback(self, color_msg, depth_msg): + try: + if self.color_camera_info is None or self.depth_camera_info is None: + rospy.logwarn_throttle(2.0, "等待真机参数加载...") + return + + # 转换图像 + color_img = self.bridge.imgmsg_to_cv2(color_msg, "bgr8") + depth_img = self.bridge.imgmsg_to_cv2(depth_msg, "passthrough") + + # 创建对齐深度图 + aligned_depth = np.zeros(color_img.shape[:2], dtype=np.float32) + + # 🌟 4. 真机 D435 最小探测距离通常是 10cm-20cm，这里放宽有效范围 + valid_mask = (depth_img > 100) & (depth_img < 10000) + rows, cols = np.where(valid_mask) + z = depth_img[valid_mask].astype(np.float32) / 1000.0 # 转为米 + + if len(z) == 0: + rospy.logwarn_throttle(2.0, "没有有效的深度数据，请检查 D435 是否被遮挡！") + return + + # 像素坐标转3D坐标 + points_3d = np.dot( + np.linalg.inv(self.K_depth), + np.vstack([cols, rows, np.ones_like(rows)]) + ) * z + + # 坐标系变换 (平移 RGB 镜头偏差) + transformed = np.dot(self.R, points_3d) + self.t.reshape(3,1) + + # 投影回彩色相机画面 + uv = np.dot(self.K_color, transformed / transformed[2:3,:]) + x = uv[0,:].clip(0, color_img.shape[1]-1) + y = uv[1,:].clip(0, color_img.shape[0]-1) + + x_idx = np.round(x).astype(int) + y_idx = np.round(y).astype(int) + + valid = (x_idx >= 0) & (x_idx < color_img.shape[1]) & \ + (y_idx >= 0) & (y_idx < color_img.shape[0]) + + aligned_depth[y_idx[valid], x_idx[valid]] = z[valid] * 1000 # 转回毫米 + + # 真机红外噪点较多，闭运算滤波非常有必要 + kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5,5)) + aligned_depth = cv2.morphologyEx(aligned_depth, cv2.MORPH_CLOSE, kernel) + + # 发布结果 + aligned_msg = self.bridge.cv2_to_imgmsg(aligned_depth.astype(np.uint16), "16UC1") + aligned_msg.header = depth_msg.header + # 强制挂载到 RGB 镜头的 TF 坐标树上 + aligned_msg.header.frame_id = "camera_color_optical_frame" + self.aligned_pub.publish(aligned_msg) + + # 发布相机信息 + self.color_camera_info.header.stamp = depth_msg.header.stamp + self.aligned_info_pub.publish(self.color_camera_info) + + except Exception as e: + rospy.logerr_throttle(2.0, f"深度图处理错误: {str(e)}") + +if __name__ == '__main__': + try: + aligner = DepthAligner() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/installspace/usb_camera_node.py b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/usb_camera_node.py new file mode 100755 index 0000000..9e84eca --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/usb_camera_node.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""Publish frames from a USB/UVC camera without hard-coding /dev paths.""" + +import os + +import cv2 +import rospy +from cv_bridge import CvBridge +from sensor_msgs.msg import Image + + +class UsbCameraNode: + def __init__(self): + rospy.init_node("usb_camera_node") + self.device_index = int(rospy.get_param("~device_index", 0)) + self.device_name = str(rospy.get_param("~device_name", "")).strip() + self.image_topic = rospy.get_param( + "~image_topic", "/usb_camera/image_raw") + self.frame_id = rospy.get_param("~frame_id", "usb_camera") + self.width = int(rospy.get_param("~width", 640)) + self.height = int(rospy.get_param("~height", 480)) + self.fps = float(rospy.get_param("~fps", 30.0)) + self.flip_code = int(rospy.get_param("~flip_code", 2)) + + self.publisher = rospy.Publisher( + self.image_topic, Image, queue_size=1) + self.bridge = CvBridge() + + self.device = self.resolve_device() + self.camera = cv2.VideoCapture(self.device, cv2.CAP_V4L2) + if not self.camera.isOpened(): + self.camera.release() + self.camera = cv2.VideoCapture(self.device) + if not self.camera.isOpened(): + raise RuntimeError( + "无法打开 USB 摄像头 {}".format(self.device)) + + self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width) + self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height) + self.camera.set(cv2.CAP_PROP_FPS, self.fps) + rospy.on_shutdown(self.shutdown) + rospy.loginfo( + "[USB_CAMERA] device=%s topic=%s requested=%dx%d@%.1f", + self.device, self.image_topic, + self.width, self.height, self.fps) + + def resolve_device(self): + """优先按 /dev/v4l/by-id 的稳定硬件名选设备。""" + if not self.device_name: + return self.device_index + + # 也允许命令行直接传完整路径；仓库和 launch 中不会写死该路径。 + if os.path.isabs(self.device_name): + return self.device_name + + candidates = ( + os.path.join(os.sep, "dev", "v4l", "by-id", self.device_name), + os.path.join(os.sep, "dev", "v4l", "by-path", self.device_name), + os.path.join(os.sep, "dev", self.device_name), + ) + for candidate in candidates: + if os.path.exists(candidate): + return candidate + + raise RuntimeError( + "找不到 USB 摄像头硬件名 '{}'; 请检查 /dev/v4l/by-id/" + .format(self.device_name)) + + def run(self): + rate = rospy.Rate(max(self.fps, 1.0)) + while not rospy.is_shutdown(): + ok, frame = self.camera.read() + if not ok or frame is None: + rospy.logwarn_throttle( + 2.0, "[USB_CAMERA] 读取失败，请检查设备序号和占用情况") + rate.sleep() + continue + + # 2 表示不翻转；OpenCV 的 0/1/-1 分别为垂直/水平/双向翻转。 + if self.flip_code in (-1, 0, 1): + frame = cv2.flip(frame, self.flip_code) + + message = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8") + message.header.stamp = rospy.Time.now() + message.header.frame_id = self.frame_id + self.publisher.publish(message) + rate.sleep() + + def shutdown(self): + if self.camera is not None: + self.camera.release() + + +if __name__ == "__main__": + try: + UsbCameraNode().run() + except rospy.ROSInterruptException: + pass + except Exception as error: + rospy.logfatal("[USB_CAMERA] %s", error) diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/installspace/usb_targeting_node.py b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/usb_targeting_node.py new file mode 100755 index 0000000..8af40dd --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/installspace/usb_targeting_node.py @@ -0,0 +1,229 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""第二次转向后，在飞向投放点过程中判断 A/B 的画面左右关系。""" + +import cv2 +import numpy as np +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +from ultralytics import YOLO + + +class UsbTargetYolo: + def __init__(self): + rospy.init_node("usb_target_check_node") + + self.is_detecting = False + self.start_time = None + self.stable_start_time = None + self.stable_layout = None + self.is_processing = False + + model_path = rospy.get_param("~model_path") + self.conf_thresh = rospy.get_param("~conf_thresh", 0.60) + self.camera_topic = rospy.get_param( + "~camera_topic", "/usb_camera/image_raw") + self.timeout_duration = rospy.get_param("~timeout_duration", 5.0) + self.stable_confirm_duration = rospy.get_param( + "~stable_confirm_duration", 0.5) + self.class_a = str(rospy.get_param("~class_a", "A")).lower() + self.class_b = str(rospy.get_param("~class_b", "B")).lower() + self.min_horizontal_separation_px = int(rospy.get_param( + "~min_horizontal_separation_px", 20)) + self.show_gui = rospy.get_param("~show_gui", True) + self.window_name = rospy.get_param( + "~window_name", "CAIM Distant A/B Layout") + + self.result_pub = rospy.Publisher( + "/caim/target_recognition_result", String, queue_size=10) + rospy.Subscriber( + "/caim/target_recognition_cmd", String, self.cmd_callback, + queue_size=1) + + rospy.loginfo( + "[USB_TARGET] Loading YOLO model: %s (confidence %.2f)", + model_path, self.conf_thresh) + self.model = YOLO(model_path) + rospy.loginfo( + "[USB_TARGET] Ready for distant A/B layout recognition. " + "classes=(%s,%s)", self.class_a, self.class_b) + + self.image_sub = rospy.Subscriber( + self.camera_topic, Image, self.image_callback, + queue_size=1, buff_size=2 ** 24) + + def reset_tracking(self): + self.stable_start_time = None + self.stable_layout = None + + def cmd_callback(self, msg): + command = msg.data.strip().upper() + if command == "STOP": + self.is_detecting = False + self.reset_tracking() + rospy.loginfo("[USB_TARGET] Recognition stopped; entering standby.") + return + + if command == "START_AB_LAYOUT": + self.is_detecting = True + self.start_time = rospy.Time.now() + self.reset_tracking() + rospy.loginfo( + "[USB_TARGET] Starting distant A/B layout recognition; " + "stable time %.1fs, timeout %.1fs.", + self.stable_confirm_duration, self.timeout_duration) + + def best_ab_detections(self, result): + """返回本帧中置信度最高的 A、B 框及其横向中心。""" + detections = {} + for box in result.boxes: + class_id = int(box.cls[0]) + class_name = str(self.model.names[class_id]).lower() + if class_name not in (self.class_a, self.class_b): + continue + + confidence = float(box.conf[0]) + if class_name in detections and \ + confidence <= detections[class_name]["confidence"]: + continue + + x1, y1, x2, y2 = [float(value) for value in box.xyxy[0]] + detections[class_name] = { + "confidence": confidence, + "center_x": (x1 + x2) * 0.5, + "box": (int(x1), int(y1), int(x2), int(y2)), + } + return detections + + def publish_result(self, result): + self.result_pub.publish(result) + self.is_detecting = False + self.reset_tracking() + + def draw_detection(self, image, label, detection, color): + x1, y1, x2, y2 = detection["box"] + cv2.rectangle(image, (x1, y1), (x2, y2), color, 2) + cv2.putText( + image, + "{} {:.2f}".format(label, detection["confidence"]), + (x1, max(24, y1 - 8)), cv2.FONT_HERSHEY_SIMPLEX, + 0.7, color, 2) + + def process_frame(self, cv_image): + display = cv_image.copy() + if not self.is_detecting: + cv2.putText( + display, "Standby - waiting for START_AB_LAYOUT", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2) + self.show(display) + return + + if self.is_processing: + return + self.is_processing = True + + try: + now = rospy.Time.now() + result = self.model( + cv_image, verbose=False, conf=self.conf_thresh)[0] + detections = self.best_ab_detections(result) + a_detection = detections.get(self.class_a) + b_detection = detections.get(self.class_b) + + if a_detection: + self.draw_detection(display, "A", a_detection, (0, 255, 0)) + if b_detection: + self.draw_detection(display, "B", b_detection, (255, 128, 0)) + + layout = None + if a_detection and b_detection: + separation = abs( + a_detection["center_x"] - b_detection["center_x"]) + if separation >= self.min_horizontal_separation_px: + layout = ( + "A_LEFT" if a_detection["center_x"] < + b_detection["center_x"] else "A_RIGHT") + + if layout is not None: + if layout != self.stable_layout: + self.stable_layout = layout + self.stable_start_time = now + + stable_elapsed = ( + now - self.stable_start_time).to_sec() + cv2.putText( + display, + "{} {:.1f}/{:.1f}s".format( + layout, stable_elapsed, + self.stable_confirm_duration), + (20, 40), cv2.FONT_HERSHEY_SIMPLEX, + 0.8, (0, 255, 255), 2) + + if stable_elapsed >= self.stable_confirm_duration: + rospy.loginfo( + "[USB_TARGET] Stable distant layout confirmed: %s", layout) + self.publish_result(layout) + else: + self.reset_tracking() + cv2.putText( + display, "Searching for both A and B...", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 165, 255), 2) + + if self.is_detecting and self.start_time is not None and \ + (now - self.start_time).to_sec() > self.timeout_duration: + rospy.logwarn( + "[USB_TARGET] A/B layout recognition timed out; requesting retry.") + self.publish_result("UNKNOWN") + + self.show(display) + except Exception as error: + rospy.logerr_throttle(1.0, "[USB_TARGET] YOLO error: %s", error) + finally: + self.is_processing = False + + def show(self, image): + if self.show_gui: + cv2.imshow(self.window_name, image) + cv2.waitKey(1) + + def image_callback(self, msg): + try: + channels = 4 if msg.encoding in ("bgra8", "rgba8") else 3 + row_bytes = msg.width * channels + raw_rows = np.frombuffer(msg.data, dtype=np.uint8).reshape( + msg.height, msg.step) + frame = raw_rows[:, :row_bytes].reshape( + msg.height, msg.width, channels) + + if msg.encoding == "rgb8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + elif msg.encoding == "rgba8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGBA2BGR) + elif msg.encoding == "bgra8": + frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR) + elif msg.encoding != "bgr8": + rospy.logwarn_throttle( + 2.0, "[USB_TARGET] Unsupported image encoding: %s", msg.encoding) + return + + self.process_frame(frame) + except Exception as error: + rospy.logerr_throttle(1.0, "[USB_TARGET] Image decode error: %s", error) + + def clean_up(self): + if self.show_gui: + cv2.destroyAllWindows() + + +if __name__ == "__main__": + node = None + try: + node = UsbTargetYolo() + rospy.spin() + except rospy.ROSInterruptException: + pass + finally: + if node is not None: + node.clean_up() diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/ordered_paths.cmake b/caim_ws_1.3/build/caim_core/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..454cf03 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/package.cmake b/caim_ws_1.3/build/caim_core/catkin_generated/package.cmake new file mode 100644 index 0000000..3f1d0ac --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "caim_core") +set(caim_core_VERSION "0.0.0") +set(caim_core_MAINTAINER "yekai ") +set(caim_core_PACKAGE_FORMAT "2") +set(caim_core_BUILD_DEPENDS "geometry_msgs" "cv_bridge" "image_transport" "nav_msgs" "pcl_conversions" "pcl_ros" "roscpp" "rospy" "sensor_msgs" "std_msgs") +set(caim_core_BUILD_EXPORT_DEPENDS "geometry_msgs" "cv_bridge" "image_transport" "nav_msgs" "pcl_conversions" "pcl_ros" "roscpp" "rospy" "sensor_msgs" "std_msgs") +set(caim_core_BUILDTOOL_DEPENDS "catkin") +set(caim_core_BUILDTOOL_EXPORT_DEPENDS ) +set(caim_core_EXEC_DEPENDS "geometry_msgs" "cv_bridge" "image_transport" "nav_msgs" "pcl_conversions" "pcl_ros" "roscpp" "rospy" "sensor_msgs" "std_msgs" "rviz") +set(caim_core_RUN_DEPENDS "geometry_msgs" "cv_bridge" "image_transport" "nav_msgs" "pcl_conversions" "pcl_ros" "roscpp" "rospy" "sensor_msgs" "std_msgs" "rviz") +set(caim_core_TEST_DEPENDS ) +set(caim_core_DOC_DEPENDS ) +set(caim_core_URL_WEBSITE "") +set(caim_core_URL_BUGTRACKER "") +set(caim_core_URL_REPOSITORY "") +set(caim_core_DEPRECATED "") \ No newline at end of file diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/pkg.develspace.context.pc.py b/caim_ws_1.3/build/caim_core/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..6274dc6 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/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 = "caim_core" +PROJECT_SPACE_DIR = "/home/yekai/caim_ws/devel" +PROJECT_VERSION = "0.0.0" diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/pkg.installspace.context.pc.py b/caim_ws_1.3/build/caim_core/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..a026d1b --- /dev/null +++ b/caim_ws_1.3/build/caim_core/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 = "caim_core" +PROJECT_SPACE_DIR = "/home/yekai/caim_ws/install" +PROJECT_VERSION = "0.0.0" diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/d435_laser_targeting_node.py.stamp b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/d435_laser_targeting_node.py.stamp new file mode 100755 index 0000000..b82f369 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/d435_laser_targeting_node.py.stamp @@ -0,0 +1,229 @@ +#!/home/yekai/anaconda3/envs/yolo11/bin/python3 +# -*- coding: utf-8 -*- + +"""第二次转向后，在飞向投放点过程中判断 A/B 的画面左右关系。""" + +import cv2 +import numpy as np +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +from ultralytics import YOLO + + +class D435TargetYolo: + def __init__(self): + rospy.init_node("d435_target_check_node") + + self.is_detecting = False + self.start_time = None + self.stable_start_time = None + self.stable_layout = None + self.is_processing = False + + model_path = rospy.get_param("~model_path", "/home/yekai/yolo11_runs/yolo11n_custom-2/weights/best.pt") + self.conf_thresh = rospy.get_param("~conf_thresh", 0.60) + self.camera_topic = rospy.get_param( + "~camera_topic", "/camera/color/image_raw") + self.timeout_duration = rospy.get_param("~timeout_duration", 5.0) + self.stable_confirm_duration = rospy.get_param( + "~stable_confirm_duration", 0.5) + self.class_a = str(rospy.get_param("~class_a", "A")).lower() + self.class_b = str(rospy.get_param("~class_b", "B")).lower() + self.min_horizontal_separation_px = int(rospy.get_param( + "~min_horizontal_separation_px", 20)) + self.show_gui = rospy.get_param("~show_gui", True) + self.window_name = rospy.get_param( + "~window_name", "CAIM Distant A/B Layout") + + self.result_pub = rospy.Publisher( + "/caim/target_recognition_result", String, queue_size=10) + rospy.Subscriber( + "/caim/target_recognition_cmd", String, self.cmd_callback, + queue_size=1) + + rospy.loginfo( + "[D435] Loading YOLO model: %s (confidence %.2f)", + model_path, self.conf_thresh) + self.model = YOLO(model_path) + rospy.loginfo( + "[D435] Ready for distant A/B layout recognition. " + "classes=(%s,%s)", self.class_a, self.class_b) + + self.image_sub = rospy.Subscriber( + self.camera_topic, Image, self.image_callback, + queue_size=1, buff_size=2 ** 24) + + def reset_tracking(self): + self.stable_start_time = None + self.stable_layout = None + + def cmd_callback(self, msg): + command = msg.data.strip().upper() + if command == "STOP": + self.is_detecting = False + self.reset_tracking() + rospy.loginfo("[D435] Recognition stopped; entering standby.") + return + + if command == "START_AB_LAYOUT": + self.is_detecting = True + self.start_time = rospy.Time.now() + self.reset_tracking() + rospy.loginfo( + "[D435] Starting distant A/B layout recognition; " + "stable time %.1fs, timeout %.1fs.", + self.stable_confirm_duration, self.timeout_duration) + + def best_ab_detections(self, result): + """返回本帧中置信度最高的 A、B 框及其横向中心。""" + detections = {} + for box in result.boxes: + class_id = int(box.cls[0]) + class_name = str(self.model.names[class_id]).lower() + if class_name not in (self.class_a, self.class_b): + continue + + confidence = float(box.conf[0]) + if class_name in detections and \ + confidence <= detections[class_name]["confidence"]: + continue + + x1, y1, x2, y2 = [float(value) for value in box.xyxy[0]] + detections[class_name] = { + "confidence": confidence, + "center_x": (x1 + x2) * 0.5, + "box": (int(x1), int(y1), int(x2), int(y2)), + } + return detections + + def publish_result(self, result): + self.result_pub.publish(result) + self.is_detecting = False + self.reset_tracking() + + def draw_detection(self, image, label, detection, color): + x1, y1, x2, y2 = detection["box"] + cv2.rectangle(image, (x1, y1), (x2, y2), color, 2) + cv2.putText( + image, + "{} {:.2f}".format(label, detection["confidence"]), + (x1, max(24, y1 - 8)), cv2.FONT_HERSHEY_SIMPLEX, + 0.7, color, 2) + + def process_frame(self, cv_image): + display = cv_image.copy() + if not self.is_detecting: + cv2.putText( + display, "Standby - waiting for START_AB_LAYOUT", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2) + self.show(display) + return + + if self.is_processing: + return + self.is_processing = True + + try: + now = rospy.Time.now() + result = self.model( + cv_image, verbose=False, conf=self.conf_thresh)[0] + detections = self.best_ab_detections(result) + a_detection = detections.get(self.class_a) + b_detection = detections.get(self.class_b) + + if a_detection: + self.draw_detection(display, "A", a_detection, (0, 255, 0)) + if b_detection: + self.draw_detection(display, "B", b_detection, (255, 128, 0)) + + layout = None + if a_detection and b_detection: + separation = abs( + a_detection["center_x"] - b_detection["center_x"]) + if separation >= self.min_horizontal_separation_px: + layout = ( + "A_LEFT" if a_detection["center_x"] < + b_detection["center_x"] else "A_RIGHT") + + if layout is not None: + if layout != self.stable_layout: + self.stable_layout = layout + self.stable_start_time = now + + stable_elapsed = ( + now - self.stable_start_time).to_sec() + cv2.putText( + display, + "{} {:.1f}/{:.1f}s".format( + layout, stable_elapsed, + self.stable_confirm_duration), + (20, 40), cv2.FONT_HERSHEY_SIMPLEX, + 0.8, (0, 255, 255), 2) + + if stable_elapsed >= self.stable_confirm_duration: + rospy.loginfo( + "[D435] Stable distant layout confirmed: %s", layout) + self.publish_result(layout) + else: + self.reset_tracking() + cv2.putText( + display, "Searching for both A and B...", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 165, 255), 2) + + if self.is_detecting and self.start_time is not None and \ + (now - self.start_time).to_sec() > self.timeout_duration: + rospy.logwarn( + "[D435] A/B layout recognition timed out; requesting retry.") + self.publish_result("UNKNOWN") + + self.show(display) + except Exception as error: + rospy.logerr_throttle(1.0, "[D435] YOLO error: %s", error) + finally: + self.is_processing = False + + def show(self, image): + if self.show_gui: + cv2.imshow(self.window_name, image) + cv2.waitKey(1) + + def image_callback(self, msg): + try: + channels = 4 if msg.encoding in ("bgra8", "rgba8") else 3 + row_bytes = msg.width * channels + raw_rows = np.frombuffer(msg.data, dtype=np.uint8).reshape( + msg.height, msg.step) + frame = raw_rows[:, :row_bytes].reshape( + msg.height, msg.width, channels) + + if msg.encoding == "rgb8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + elif msg.encoding == "rgba8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGBA2BGR) + elif msg.encoding == "bgra8": + frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR) + elif msg.encoding != "bgr8": + rospy.logwarn_throttle( + 2.0, "[D435] Unsupported image encoding: %s", msg.encoding) + return + + self.process_frame(frame) + except Exception as error: + rospy.logerr_throttle(1.0, "[D435] Image decode error: %s", error) + + def clean_up(self): + if self.show_gui: + cv2.destroyAllWindows() + + +if __name__ == "__main__": + node = None + try: + node = D435TargetYolo() + rospy.spin() + except rospy.ROSInterruptException: + pass + finally: + if node is not None: + node.clean_up() diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/depth_aligner.py.stamp b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/depth_aligner.py.stamp new file mode 100755 index 0000000..95cc94e --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/depth_aligner.py.stamp @@ -0,0 +1,127 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import rospy +import numpy as np +import cv2 +from cv_bridge import CvBridge, CvBridgeError +import message_filters +from sensor_msgs.msg import Image, CameraInfo + +class DepthAligner: + def __init__(self): + rospy.init_node('depth_aligner', anonymous=True) + self.bridge = CvBridge() + + # 相机参数初始化 + self.K_color = None + self.K_depth = None + self.color_camera_info = None + self.depth_camera_info = None + + # 🌟 1. 发布器（保持不变，它假装自己是官方对齐节点发布数据） + self.aligned_pub = rospy.Publisher("/camera/aligned_depth/image_raw", Image, queue_size=1) + self.aligned_info_pub = rospy.Publisher("/camera/aligned_depth/camera_info", CameraInfo, queue_size=1) + + # 订阅相机信息 + rospy.Subscriber("/camera/color/camera_info", CameraInfo, self.color_info_callback) + rospy.Subscriber("/camera/depth/camera_info", CameraInfo, self.depth_info_callback) + + # 🌟 2. 核心修改：真机 D435 的深度图原始话题通常带 rect (已畸变校正) + color_sub = message_filters.Subscriber("/camera/color/image_raw", Image) + depth_sub = message_filters.Subscriber("/camera/depth/image_rect_raw", Image) + + # 时间同步 (真机帧率可能波动，slop 稍微放宽一点) + ts = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=10, slop=0.1) + ts.registerCallback(self.alignment_callback) + + rospy.loginfo("【真机适配版】深度手动对齐节点已启动，后台静默运行中...") + + def color_info_callback(self, msg): + """更新彩色相机内参""" + if self.color_camera_info is None: + rospy.loginfo("成功接收真实彩色相机内参") + self.color_camera_info = msg + self.K_color = np.array(msg.K).reshape(3,3) + + def depth_info_callback(self, msg): + """更新深度相机内参""" + if self.depth_camera_info is None: + rospy.loginfo("成功接收真实深度相机内参") + self.depth_camera_info = msg + self.K_depth = np.array(msg.K).reshape(3,3) + + # 🌟 3. 核心修改：真机 D435 的真实物理外参（深度红外镜头到RGB镜头的距离） + # D435 的设计基线大约是 14.8 毫米 (0.0148m) + self.R = np.eye(3, dtype=np.float32) + self.t = np.array([0.0148, 0, 0], dtype=np.float32) + + def alignment_callback(self, color_msg, depth_msg): + try: + if self.color_camera_info is None or self.depth_camera_info is None: + rospy.logwarn_throttle(2.0, "等待真机参数加载...") + return + + # 转换图像 + color_img = self.bridge.imgmsg_to_cv2(color_msg, "bgr8") + depth_img = self.bridge.imgmsg_to_cv2(depth_msg, "passthrough") + + # 创建对齐深度图 + aligned_depth = np.zeros(color_img.shape[:2], dtype=np.float32) + + # 🌟 4. 真机 D435 最小探测距离通常是 10cm-20cm，这里放宽有效范围 + valid_mask = (depth_img > 100) & (depth_img < 10000) + rows, cols = np.where(valid_mask) + z = depth_img[valid_mask].astype(np.float32) / 1000.0 # 转为米 + + if len(z) == 0: + rospy.logwarn_throttle(2.0, "没有有效的深度数据，请检查 D435 是否被遮挡！") + return + + # 像素坐标转3D坐标 + points_3d = np.dot( + np.linalg.inv(self.K_depth), + np.vstack([cols, rows, np.ones_like(rows)]) + ) * z + + # 坐标系变换 (平移 RGB 镜头偏差) + transformed = np.dot(self.R, points_3d) + self.t.reshape(3,1) + + # 投影回彩色相机画面 + uv = np.dot(self.K_color, transformed / transformed[2:3,:]) + x = uv[0,:].clip(0, color_img.shape[1]-1) + y = uv[1,:].clip(0, color_img.shape[0]-1) + + x_idx = np.round(x).astype(int) + y_idx = np.round(y).astype(int) + + valid = (x_idx >= 0) & (x_idx < color_img.shape[1]) & \ + (y_idx >= 0) & (y_idx < color_img.shape[0]) + + aligned_depth[y_idx[valid], x_idx[valid]] = z[valid] * 1000 # 转回毫米 + + # 真机红外噪点较多，闭运算滤波非常有必要 + kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5,5)) + aligned_depth = cv2.morphologyEx(aligned_depth, cv2.MORPH_CLOSE, kernel) + + # 发布结果 + aligned_msg = self.bridge.cv2_to_imgmsg(aligned_depth.astype(np.uint16), "16UC1") + aligned_msg.header = depth_msg.header + # 强制挂载到 RGB 镜头的 TF 坐标树上 + aligned_msg.header.frame_id = "camera_color_optical_frame" + self.aligned_pub.publish(aligned_msg) + + # 发布相机信息 + self.color_camera_info.header.stamp = depth_msg.header.stamp + self.aligned_info_pub.publish(self.color_camera_info) + + except Exception as e: + rospy.logerr_throttle(2.0, f"深度图处理错误: {str(e)}") + +if __name__ == '__main__': + try: + aligner = DepthAligner() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/package.xml.stamp b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/package.xml.stamp new file mode 100644 index 0000000..e818682 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/package.xml.stamp @@ -0,0 +1,90 @@ + + + caim_core + 0.0.0 + The caim_core package + + + + + yekai + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + std_msgs + rviz + + + + + + + + diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/pkg.pc.em.stamp b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/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/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/usb_camera_node.py.stamp b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/usb_camera_node.py.stamp new file mode 100755 index 0000000..9e84eca --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/usb_camera_node.py.stamp @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""Publish frames from a USB/UVC camera without hard-coding /dev paths.""" + +import os + +import cv2 +import rospy +from cv_bridge import CvBridge +from sensor_msgs.msg import Image + + +class UsbCameraNode: + def __init__(self): + rospy.init_node("usb_camera_node") + self.device_index = int(rospy.get_param("~device_index", 0)) + self.device_name = str(rospy.get_param("~device_name", "")).strip() + self.image_topic = rospy.get_param( + "~image_topic", "/usb_camera/image_raw") + self.frame_id = rospy.get_param("~frame_id", "usb_camera") + self.width = int(rospy.get_param("~width", 640)) + self.height = int(rospy.get_param("~height", 480)) + self.fps = float(rospy.get_param("~fps", 30.0)) + self.flip_code = int(rospy.get_param("~flip_code", 2)) + + self.publisher = rospy.Publisher( + self.image_topic, Image, queue_size=1) + self.bridge = CvBridge() + + self.device = self.resolve_device() + self.camera = cv2.VideoCapture(self.device, cv2.CAP_V4L2) + if not self.camera.isOpened(): + self.camera.release() + self.camera = cv2.VideoCapture(self.device) + if not self.camera.isOpened(): + raise RuntimeError( + "无法打开 USB 摄像头 {}".format(self.device)) + + self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width) + self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height) + self.camera.set(cv2.CAP_PROP_FPS, self.fps) + rospy.on_shutdown(self.shutdown) + rospy.loginfo( + "[USB_CAMERA] device=%s topic=%s requested=%dx%d@%.1f", + self.device, self.image_topic, + self.width, self.height, self.fps) + + def resolve_device(self): + """优先按 /dev/v4l/by-id 的稳定硬件名选设备。""" + if not self.device_name: + return self.device_index + + # 也允许命令行直接传完整路径；仓库和 launch 中不会写死该路径。 + if os.path.isabs(self.device_name): + return self.device_name + + candidates = ( + os.path.join(os.sep, "dev", "v4l", "by-id", self.device_name), + os.path.join(os.sep, "dev", "v4l", "by-path", self.device_name), + os.path.join(os.sep, "dev", self.device_name), + ) + for candidate in candidates: + if os.path.exists(candidate): + return candidate + + raise RuntimeError( + "找不到 USB 摄像头硬件名 '{}'; 请检查 /dev/v4l/by-id/" + .format(self.device_name)) + + def run(self): + rate = rospy.Rate(max(self.fps, 1.0)) + while not rospy.is_shutdown(): + ok, frame = self.camera.read() + if not ok or frame is None: + rospy.logwarn_throttle( + 2.0, "[USB_CAMERA] 读取失败，请检查设备序号和占用情况") + rate.sleep() + continue + + # 2 表示不翻转；OpenCV 的 0/1/-1 分别为垂直/水平/双向翻转。 + if self.flip_code in (-1, 0, 1): + frame = cv2.flip(frame, self.flip_code) + + message = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8") + message.header.stamp = rospy.Time.now() + message.header.frame_id = self.frame_id + self.publisher.publish(message) + rate.sleep() + + def shutdown(self): + if self.camera is not None: + self.camera.release() + + +if __name__ == "__main__": + try: + UsbCameraNode().run() + except rospy.ROSInterruptException: + pass + except Exception as error: + rospy.logfatal("[USB_CAMERA] %s", error) diff --git a/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/usb_targeting_node.py.stamp b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/usb_targeting_node.py.stamp new file mode 100755 index 0000000..8af40dd --- /dev/null +++ b/caim_ws_1.3/build/caim_core/catkin_generated/stamps/caim_core/usb_targeting_node.py.stamp @@ -0,0 +1,229 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""第二次转向后，在飞向投放点过程中判断 A/B 的画面左右关系。""" + +import cv2 +import numpy as np +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +from ultralytics import YOLO + + +class UsbTargetYolo: + def __init__(self): + rospy.init_node("usb_target_check_node") + + self.is_detecting = False + self.start_time = None + self.stable_start_time = None + self.stable_layout = None + self.is_processing = False + + model_path = rospy.get_param("~model_path") + self.conf_thresh = rospy.get_param("~conf_thresh", 0.60) + self.camera_topic = rospy.get_param( + "~camera_topic", "/usb_camera/image_raw") + self.timeout_duration = rospy.get_param("~timeout_duration", 5.0) + self.stable_confirm_duration = rospy.get_param( + "~stable_confirm_duration", 0.5) + self.class_a = str(rospy.get_param("~class_a", "A")).lower() + self.class_b = str(rospy.get_param("~class_b", "B")).lower() + self.min_horizontal_separation_px = int(rospy.get_param( + "~min_horizontal_separation_px", 20)) + self.show_gui = rospy.get_param("~show_gui", True) + self.window_name = rospy.get_param( + "~window_name", "CAIM Distant A/B Layout") + + self.result_pub = rospy.Publisher( + "/caim/target_recognition_result", String, queue_size=10) + rospy.Subscriber( + "/caim/target_recognition_cmd", String, self.cmd_callback, + queue_size=1) + + rospy.loginfo( + "[USB_TARGET] Loading YOLO model: %s (confidence %.2f)", + model_path, self.conf_thresh) + self.model = YOLO(model_path) + rospy.loginfo( + "[USB_TARGET] Ready for distant A/B layout recognition. " + "classes=(%s,%s)", self.class_a, self.class_b) + + self.image_sub = rospy.Subscriber( + self.camera_topic, Image, self.image_callback, + queue_size=1, buff_size=2 ** 24) + + def reset_tracking(self): + self.stable_start_time = None + self.stable_layout = None + + def cmd_callback(self, msg): + command = msg.data.strip().upper() + if command == "STOP": + self.is_detecting = False + self.reset_tracking() + rospy.loginfo("[USB_TARGET] Recognition stopped; entering standby.") + return + + if command == "START_AB_LAYOUT": + self.is_detecting = True + self.start_time = rospy.Time.now() + self.reset_tracking() + rospy.loginfo( + "[USB_TARGET] Starting distant A/B layout recognition; " + "stable time %.1fs, timeout %.1fs.", + self.stable_confirm_duration, self.timeout_duration) + + def best_ab_detections(self, result): + """返回本帧中置信度最高的 A、B 框及其横向中心。""" + detections = {} + for box in result.boxes: + class_id = int(box.cls[0]) + class_name = str(self.model.names[class_id]).lower() + if class_name not in (self.class_a, self.class_b): + continue + + confidence = float(box.conf[0]) + if class_name in detections and \ + confidence <= detections[class_name]["confidence"]: + continue + + x1, y1, x2, y2 = [float(value) for value in box.xyxy[0]] + detections[class_name] = { + "confidence": confidence, + "center_x": (x1 + x2) * 0.5, + "box": (int(x1), int(y1), int(x2), int(y2)), + } + return detections + + def publish_result(self, result): + self.result_pub.publish(result) + self.is_detecting = False + self.reset_tracking() + + def draw_detection(self, image, label, detection, color): + x1, y1, x2, y2 = detection["box"] + cv2.rectangle(image, (x1, y1), (x2, y2), color, 2) + cv2.putText( + image, + "{} {:.2f}".format(label, detection["confidence"]), + (x1, max(24, y1 - 8)), cv2.FONT_HERSHEY_SIMPLEX, + 0.7, color, 2) + + def process_frame(self, cv_image): + display = cv_image.copy() + if not self.is_detecting: + cv2.putText( + display, "Standby - waiting for START_AB_LAYOUT", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2) + self.show(display) + return + + if self.is_processing: + return + self.is_processing = True + + try: + now = rospy.Time.now() + result = self.model( + cv_image, verbose=False, conf=self.conf_thresh)[0] + detections = self.best_ab_detections(result) + a_detection = detections.get(self.class_a) + b_detection = detections.get(self.class_b) + + if a_detection: + self.draw_detection(display, "A", a_detection, (0, 255, 0)) + if b_detection: + self.draw_detection(display, "B", b_detection, (255, 128, 0)) + + layout = None + if a_detection and b_detection: + separation = abs( + a_detection["center_x"] - b_detection["center_x"]) + if separation >= self.min_horizontal_separation_px: + layout = ( + "A_LEFT" if a_detection["center_x"] < + b_detection["center_x"] else "A_RIGHT") + + if layout is not None: + if layout != self.stable_layout: + self.stable_layout = layout + self.stable_start_time = now + + stable_elapsed = ( + now - self.stable_start_time).to_sec() + cv2.putText( + display, + "{} {:.1f}/{:.1f}s".format( + layout, stable_elapsed, + self.stable_confirm_duration), + (20, 40), cv2.FONT_HERSHEY_SIMPLEX, + 0.8, (0, 255, 255), 2) + + if stable_elapsed >= self.stable_confirm_duration: + rospy.loginfo( + "[USB_TARGET] Stable distant layout confirmed: %s", layout) + self.publish_result(layout) + else: + self.reset_tracking() + cv2.putText( + display, "Searching for both A and B...", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 165, 255), 2) + + if self.is_detecting and self.start_time is not None and \ + (now - self.start_time).to_sec() > self.timeout_duration: + rospy.logwarn( + "[USB_TARGET] A/B layout recognition timed out; requesting retry.") + self.publish_result("UNKNOWN") + + self.show(display) + except Exception as error: + rospy.logerr_throttle(1.0, "[USB_TARGET] YOLO error: %s", error) + finally: + self.is_processing = False + + def show(self, image): + if self.show_gui: + cv2.imshow(self.window_name, image) + cv2.waitKey(1) + + def image_callback(self, msg): + try: + channels = 4 if msg.encoding in ("bgra8", "rgba8") else 3 + row_bytes = msg.width * channels + raw_rows = np.frombuffer(msg.data, dtype=np.uint8).reshape( + msg.height, msg.step) + frame = raw_rows[:, :row_bytes].reshape( + msg.height, msg.width, channels) + + if msg.encoding == "rgb8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + elif msg.encoding == "rgba8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGBA2BGR) + elif msg.encoding == "bgra8": + frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR) + elif msg.encoding != "bgr8": + rospy.logwarn_throttle( + 2.0, "[USB_TARGET] Unsupported image encoding: %s", msg.encoding) + return + + self.process_frame(frame) + except Exception as error: + rospy.logerr_throttle(1.0, "[USB_TARGET] Image decode error: %s", error) + + def clean_up(self): + if self.show_gui: + cv2.destroyAllWindows() + + +if __name__ == "__main__": + node = None + try: + node = UsbTargetYolo() + rospy.spin() + except rospy.ROSInterruptException: + pass + finally: + if node is not None: + node.clean_up() diff --git a/caim_ws_1.3/build/caim_core/cmake_install.cmake b/caim_ws_1.3/build/caim_core/cmake_install.cmake new file mode 100644 index 0000000..08b4db3 --- /dev/null +++ b/caim_ws_1.3/build/caim_core/cmake_install.cmake @@ -0,0 +1,81 @@ +# Install script for directory: /home/yekai/caim_ws/src/caim_core + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/yekai/caim_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/yekai/caim_ws/build/caim_core/catkin_generated/installspace/caim_core.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_core/cmake" TYPE FILE FILES + "/home/yekai/caim_ws/build/caim_core/catkin_generated/installspace/caim_coreConfig.cmake" + "/home/yekai/caim_ws/build/caim_core/catkin_generated/installspace/caim_coreConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_core" TYPE FILE FILES "/home/yekai/caim_ws/src/caim_core/package.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/caim_core" TYPE PROGRAM FILES "/home/yekai/caim_ws/build/caim_core/catkin_generated/installspace/usb_camera_node.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/caim_core" TYPE PROGRAM FILES "/home/yekai/caim_ws/build/caim_core/catkin_generated/installspace/usb_targeting_node.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/caim_core" TYPE PROGRAM FILES "/home/yekai/caim_ws/build/caim_core/catkin_generated/installspace/depth_aligner.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_core" TYPE DIRECTORY FILES + "/home/yekai/caim_ws/src/caim_core/launch" + "/home/yekai/caim_ws/src/caim_core/rviz" + "/home/yekai/caim_ws/src/caim_core/models" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_core/scripts" TYPE PROGRAM FILES + "/home/yekai/caim_ws/src/caim_core/scripts/yolo_python.sh" + "/home/yekai/caim_ws/src/caim_core/scripts/ros_python_bootstrap.py" + ) +endif() + diff --git 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+1,196 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" at a time, but pass parallelism. +.NOTPARALLEL: + + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/yekai/caim_ws/src + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/yekai/caim_ws/build + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local/fast + +# Special rule for the target install +install: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P cmake_install.cmake +.PHONY : install + +# Special rule for the target install +install/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..." + /usr/bin/cmake -P 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interactive\ CMake\ dialog\ available. +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target test +test: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..." + /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 + cd /home/yekai/caim_ws/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/yekai/caim_ws/build/CMakeFiles /home/yekai/caim_ws/build/caim_tiaoshi/CMakeFiles/progress.marks + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 caim_tiaoshi/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/yekai/caim_ws/build/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 caim_tiaoshi/clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 caim_tiaoshi/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 caim_tiaoshi/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/yekai/caim_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# 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 "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @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/yekai/caim_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshi.pc b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshi.pc new file mode 100644 index 0000000..8aca5a8 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshi.pc @@ -0,0 +1,8 @@ +prefix=/home/yekai/caim_ws/install + +Name: caim_tiaoshi +Description: Description of caim_tiaoshi +Version: 0.1.0 +Cflags: +Libs: -L${prefix}/lib +Requires: geometry_msgs nav_msgs rospy std_msgs visualization_msgs caim_core diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig-version.cmake b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig-version.cmake new file mode 100644 index 0000000..e03eef1 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.1.0") + +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/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig.cmake b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig.cmake new file mode 100644 index 0000000..4ed936a --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig.cmake @@ -0,0 +1,225 @@ +# 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(caim_tiaoshi_CONFIG_INCLUDED) + return() +endif() +set(caim_tiaoshi_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(caim_tiaoshi_SOURCE_PREFIX /home/yekai/caim_ws/src/caim_tiaoshi) + set(caim_tiaoshi_DEVEL_PREFIX /home/yekai/caim_ws/devel) + set(caim_tiaoshi_INSTALL_PREFIX "") + set(caim_tiaoshi_PREFIX ${caim_tiaoshi_DEVEL_PREFIX}) +else() + set(caim_tiaoshi_SOURCE_PREFIX "") + set(caim_tiaoshi_DEVEL_PREFIX "") + set(caim_tiaoshi_INSTALL_PREFIX /home/yekai/caim_ws/install) + set(caim_tiaoshi_PREFIX ${caim_tiaoshi_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'caim_tiaoshi' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(caim_tiaoshi_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(caim_tiaoshi_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 'yekai ' 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 "${caim_tiaoshi_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'caim_tiaoshi' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'caim_tiaoshi' specifies '${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(caim_tiaoshi_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND caim_tiaoshi_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND caim_tiaoshi_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 caim_tiaoshi_NUM_DUMMY_TARGETS) + set(caim_tiaoshi_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::caim_tiaoshi::wrapped-linker-option${caim_tiaoshi_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR caim_tiaoshi_NUM_DUMMY_TARGETS "${caim_tiaoshi_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::caim_tiaoshi::wrapped-linker-option${caim_tiaoshi_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 caim_tiaoshi_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND caim_tiaoshi_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND caim_tiaoshi_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND caim_tiaoshi_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/yekai/caim_ws/install/lib;/home/yekai/caim_ws/devel/lib;/home/yekai/realsense_ros_gazebo/devel/lib;/home/yekai/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(caim_tiaoshi_LIBRARY_DIRS ${lib_path}) + list(APPEND caim_tiaoshi_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 'caim_tiaoshi'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND caim_tiaoshi_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(caim_tiaoshi_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${caim_tiaoshi_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "geometry_msgs;nav_msgs;rospy;std_msgs;visualization_msgs;caim_core") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 caim_tiaoshi_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${caim_tiaoshi_dep}_FOUND) + find_package(${caim_tiaoshi_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${caim_tiaoshi_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(caim_tiaoshi_INCLUDE_DIRS ${${caim_tiaoshi_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(caim_tiaoshi_LIBRARIES ${caim_tiaoshi_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${caim_tiaoshi_dep}_LIBRARIES}) + _list_append_deduplicate(caim_tiaoshi_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(caim_tiaoshi_LIBRARIES ${caim_tiaoshi_LIBRARIES}) + + _list_append_unique(caim_tiaoshi_LIBRARY_DIRS ${${caim_tiaoshi_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(caim_tiaoshi_EXPORTED_TARGETS ${${caim_tiaoshi_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${caim_tiaoshi_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/debug_trigger_node.py b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/debug_trigger_node.py new file mode 100755 index 0000000..d3aa0cb --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/debug_trigger_node.py @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""在不启动主状态机的情况下，自动触发并重复调试感知节点。""" + +import rospy +from std_msgs.msg import Empty, Int32, String + + +class DebugTrigger: + def __init__(self): + self.mode = rospy.get_param("~mode") + self.repeat = rospy.get_param("~repeat", True) + self.startup_delay = float(rospy.get_param("~startup_delay", 2.0)) + self.repeat_delay = float(rospy.get_param("~repeat_delay", 1.0)) + self.response_timeout = float( + rospy.get_param("~response_timeout", 8.0)) + + self.waiting = False + self.finished = False + self.attempt = 0 + self.started_at = rospy.Time(0) + self.next_trigger_at = rospy.Time.now() + rospy.Duration( + self.startup_delay) + + if self.mode == "pillar": + self.trigger_pub = rospy.Publisher( + "/caim/trigger_detection", Empty, queue_size=1) + rospy.Subscriber( + "/caim/detection_result", Int32, + self.pillar_result_callback, queue_size=1) + elif self.mode == "circle": + self.trigger_pub = rospy.Publisher( + "/caim/trigger_downward_detection", Empty, queue_size=1) + self.reset_pub = rospy.Publisher( + "/caim/drop_complete", Empty, queue_size=1) + rospy.Subscriber( + "/caim/downward_detection_done", Empty, + self.circle_result_callback, queue_size=1) + elif self.mode == "ab": + self.trigger_pub = rospy.Publisher( + "/caim/target_recognition_cmd", String, queue_size=1) + rospy.Subscriber( + "/caim/target_recognition_result", String, + self.ab_result_callback, queue_size=1) + else: + raise ValueError("unsupported debug mode: {}".format(self.mode)) + + self.timer = rospy.Timer( + rospy.Duration(0.1), self.timer_callback) + rospy.loginfo( + "[TIAOSHI] mode=%s repeat=%s; waiting for detector node.", + self.mode, self.repeat) + + def schedule_next(self): + self.waiting = False + if self.repeat: + self.next_trigger_at = rospy.Time.now() + rospy.Duration( + self.repeat_delay) + else: + self.finished = True + + def trigger(self): + self.attempt += 1 + self.waiting = True + self.started_at = rospy.Time.now() + + if self.mode in ("pillar", "circle"): + self.trigger_pub.publish(Empty()) + else: + self.trigger_pub.publish(String(data="START_AB_LAYOUT")) + + rospy.loginfo( + "[TIAOSHI] %s recognition triggered, attempt %d.", + self.mode, self.attempt) + + def timer_callback(self, _event): + if self.finished: + return + + now = rospy.Time.now() + if self.waiting: + if now - self.started_at > rospy.Duration( + self.response_timeout): + rospy.logwarn( + "[TIAOSHI] %s attempt %d timed out after %.1fs.", + self.mode, self.attempt, self.response_timeout) + self.schedule_next() + return + + if now < self.next_trigger_at: + return + + if self.trigger_pub.get_num_connections() == 0: + rospy.logwarn_throttle( + 2.0, "[TIAOSHI] waiting for %s detector subscriber...", + self.mode) + return + + self.trigger() + + def pillar_result_callback(self, msg): + if not self.waiting: + return + rospy.loginfo( + "[TIAOSHI] pillar result: %02d (occupied pillar IDs).", + msg.data) + self.schedule_next() + + def circle_result_callback(self, _msg): + if not self.waiting: + return + rospy.loginfo("[TIAOSHI] circle result: target centered and stable.") + # 原节点等待投放完成消息来清除保持画面；调试包只做复位，不执行投放。 + rospy.Timer( + rospy.Duration(0.2), self.reset_circle, + oneshot=True) + self.schedule_next() + + def reset_circle(self, _event): + self.reset_pub.publish(Empty()) + + def ab_result_callback(self, msg): + if not self.waiting: + return + rospy.loginfo("[TIAOSHI] A/B result: %s", msg.data) + self.schedule_next() + + +if __name__ == "__main__": + rospy.init_node("caim_debug_trigger") + try: + DebugTrigger() + rospy.spin() + except (rospy.ROSInterruptException, ValueError) as exc: + rospy.logerr("[TIAOSHI] %s", exc) diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/route_visualizer_node.py b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/route_visualizer_node.py new file mode 100755 index 0000000..34cbe39 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/installspace/route_visualizer_node.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""根据柱子识别组合生成 OctoMap 坐标系路线，仅用于可视化。""" + +import math + +import rospy +from geometry_msgs.msg import Point, PoseStamped +from nav_msgs.msg import Path +from std_msgs.msg import Int32 +from visualization_msgs.msg import Marker + + +class RouteVisualizer: + def __init__(self): + self.frame_id = rospy.get_param("~frame_id", "camera_init") + self.offset_x = float(rospy.get_param("~offset_x", 0.0)) + self.offset_y = float(rospy.get_param("~offset_y", 0.0)) + self.offset_z = float(rospy.get_param("~offset_z", 0.0)) + self.yaw = float(rospy.get_param("~yaw", math.pi / 2.0)) + self.start_x = float(rospy.get_param("~start_x", 0.0)) + self.start_y = float(rospy.get_param("~start_y", -2.30)) + self.start_z = float(rospy.get_param("~start_z", 0.80)) + self.route_z = float(rospy.get_param("~route_z", 0.50)) + self.pillars = rospy.get_param("~pillars") + + self.path_pub = rospy.Publisher( + "/caim/avoidance_route_octomap", Path, + queue_size=1, latch=True) + self.marker_pub = rospy.Publisher( + "/caim/avoidance_route_octomap_marker", Marker, + queue_size=1, latch=True) + rospy.Subscriber( + "/caim/detection_result", Int32, + self.result_callback, queue_size=1) + + rospy.loginfo( + "[TIAOSHI_ROUTE] Waiting for pillar result; frame=%s " + "transform=(%.2f, %.2f, %.2f, yaw %.3f).", + self.frame_id, self.offset_x, self.offset_y, + self.offset_z, self.yaw) + + def transform(self, x_value, y_value, z_value): + cosine = math.cos(self.yaw) + sine = math.sin(self.yaw) + point = Point() + point.x = self.offset_x + cosine * x_value - sine * y_value + point.y = self.offset_y + sine * x_value + cosine * y_value + point.z = self.offset_z + z_value + return point + + def result_callback(self, msg): + code = int(msg.data) + occupied = {code // 10, code % 10} + if code not in (13, 14, 23, 24): + rospy.logwarn("[TIAOSHI_ROUTE] Ignoring invalid result %02d.", code) + return + + empty_pillars = [ + pillar for pillar in self.pillars + if int(pillar["id"]) not in occupied + ] + if len(empty_pillars) != 2: + rospy.logerr( + "[TIAOSHI_ROUTE] Expected two empty positions, got %d.", + len(empty_pillars)) + return + + route = [(self.start_x, self.start_y, self.start_z)] + route.extend([ + (float(pillar["x"]), float(pillar["y"]), self.route_z) + for pillar in empty_pillars + ]) + + stamp = rospy.Time.now() + path = Path() + path.header.stamp = stamp + path.header.frame_id = self.frame_id + + marker = Marker() + marker.header = path.header + marker.ns = "caim_avoidance_route_octomap" + marker.id = 0 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.pose.orientation.w = 1.0 + marker.scale.x = 0.08 + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 0.2 + marker.color.a = 1.0 + + for x_value, y_value, z_value in route: + point = self.transform(x_value, y_value, z_value) + marker.points.append(point) + + pose = PoseStamped() + pose.header = path.header + pose.pose.position = point + pose.pose.orientation.w = 1.0 + path.poses.append(pose) + + self.path_pub.publish(path) + self.marker_pub.publish(marker) + rospy.loginfo( + "[TIAOSHI_ROUTE] Result %02d: published route through empty " + "pillar IDs %d and %d.", + code, int(empty_pillars[0]["id"]), int(empty_pillars[1]["id"])) + + +if __name__ == "__main__": + rospy.init_node("caim_route_visualizer") + RouteVisualizer() + rospy.spin() diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/ordered_paths.cmake b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..454cf03 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/package.cmake b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/package.cmake new file mode 100644 index 0000000..dc8c526 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/package.cmake @@ -0,0 +1,16 @@ +set(_CATKIN_CURRENT_PACKAGE "caim_tiaoshi") +set(caim_tiaoshi_VERSION "0.1.0") +set(caim_tiaoshi_MAINTAINER "yekai ") +set(caim_tiaoshi_PACKAGE_FORMAT "2") +set(caim_tiaoshi_BUILD_DEPENDS "caim_core" "geometry_msgs" "nav_msgs" "rospy" "std_msgs" "visualization_msgs") +set(caim_tiaoshi_BUILD_EXPORT_DEPENDS "caim_core" "geometry_msgs" "nav_msgs" "rospy" "std_msgs" "visualization_msgs") +set(caim_tiaoshi_BUILDTOOL_DEPENDS "catkin") +set(caim_tiaoshi_BUILDTOOL_EXPORT_DEPENDS ) +set(caim_tiaoshi_EXEC_DEPENDS "caim_core" "geometry_msgs" "nav_msgs" "rospy" "std_msgs" "visualization_msgs") +set(caim_tiaoshi_RUN_DEPENDS "caim_core" "geometry_msgs" "nav_msgs" "rospy" "std_msgs" "visualization_msgs") +set(caim_tiaoshi_TEST_DEPENDS ) +set(caim_tiaoshi_DOC_DEPENDS ) +set(caim_tiaoshi_URL_WEBSITE "") +set(caim_tiaoshi_URL_BUGTRACKER "") +set(caim_tiaoshi_URL_REPOSITORY "") +set(caim_tiaoshi_DEPRECATED "") \ No newline at end of file diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/pkg.develspace.context.pc.py b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..e1256fe --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/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 = "geometry_msgs;nav_msgs;rospy;std_msgs;visualization_msgs;caim_core".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "caim_tiaoshi" +PROJECT_SPACE_DIR = "/home/yekai/caim_ws/devel" +PROJECT_VERSION = "0.1.0" diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/pkg.installspace.context.pc.py b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..f735418 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/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 = "geometry_msgs;nav_msgs;rospy;std_msgs;visualization_msgs;caim_core".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "caim_tiaoshi" +PROJECT_SPACE_DIR = "/home/yekai/caim_ws/install" +PROJECT_VERSION = "0.1.0" diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/debug_trigger_node.py.stamp b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/debug_trigger_node.py.stamp new file mode 100755 index 0000000..d3aa0cb --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/debug_trigger_node.py.stamp @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""在不启动主状态机的情况下，自动触发并重复调试感知节点。""" + +import rospy +from std_msgs.msg import Empty, Int32, String + + +class DebugTrigger: + def __init__(self): + self.mode = rospy.get_param("~mode") + self.repeat = rospy.get_param("~repeat", True) + self.startup_delay = float(rospy.get_param("~startup_delay", 2.0)) + self.repeat_delay = float(rospy.get_param("~repeat_delay", 1.0)) + self.response_timeout = float( + rospy.get_param("~response_timeout", 8.0)) + + self.waiting = False + self.finished = False + self.attempt = 0 + self.started_at = rospy.Time(0) + self.next_trigger_at = rospy.Time.now() + rospy.Duration( + self.startup_delay) + + if self.mode == "pillar": + self.trigger_pub = rospy.Publisher( + "/caim/trigger_detection", Empty, queue_size=1) + rospy.Subscriber( + "/caim/detection_result", Int32, + self.pillar_result_callback, queue_size=1) + elif self.mode == "circle": + self.trigger_pub = rospy.Publisher( + "/caim/trigger_downward_detection", Empty, queue_size=1) + self.reset_pub = rospy.Publisher( + "/caim/drop_complete", Empty, queue_size=1) + rospy.Subscriber( + "/caim/downward_detection_done", Empty, + self.circle_result_callback, queue_size=1) + elif self.mode == "ab": + self.trigger_pub = rospy.Publisher( + "/caim/target_recognition_cmd", String, queue_size=1) + rospy.Subscriber( + "/caim/target_recognition_result", String, + self.ab_result_callback, queue_size=1) + else: + raise ValueError("unsupported debug mode: {}".format(self.mode)) + + self.timer = rospy.Timer( + rospy.Duration(0.1), self.timer_callback) + rospy.loginfo( + "[TIAOSHI] mode=%s repeat=%s; waiting for detector node.", + self.mode, self.repeat) + + def schedule_next(self): + self.waiting = False + if self.repeat: + self.next_trigger_at = rospy.Time.now() + rospy.Duration( + self.repeat_delay) + else: + self.finished = True + + def trigger(self): + self.attempt += 1 + self.waiting = True + self.started_at = rospy.Time.now() + + if self.mode in ("pillar", "circle"): + self.trigger_pub.publish(Empty()) + else: + self.trigger_pub.publish(String(data="START_AB_LAYOUT")) + + rospy.loginfo( + "[TIAOSHI] %s recognition triggered, attempt %d.", + self.mode, self.attempt) + + def timer_callback(self, _event): + if self.finished: + return + + now = rospy.Time.now() + if self.waiting: + if now - self.started_at > rospy.Duration( + self.response_timeout): + rospy.logwarn( + "[TIAOSHI] %s attempt %d timed out after %.1fs.", + self.mode, self.attempt, self.response_timeout) + self.schedule_next() + return + + if now < self.next_trigger_at: + return + + if self.trigger_pub.get_num_connections() == 0: + rospy.logwarn_throttle( + 2.0, "[TIAOSHI] waiting for %s detector subscriber...", + self.mode) + return + + self.trigger() + + def pillar_result_callback(self, msg): + if not self.waiting: + return + rospy.loginfo( + "[TIAOSHI] pillar result: %02d (occupied pillar IDs).", + msg.data) + self.schedule_next() + + def circle_result_callback(self, _msg): + if not self.waiting: + return + rospy.loginfo("[TIAOSHI] circle result: target centered and stable.") + # 原节点等待投放完成消息来清除保持画面；调试包只做复位，不执行投放。 + rospy.Timer( + rospy.Duration(0.2), self.reset_circle, + oneshot=True) + self.schedule_next() + + def reset_circle(self, _event): + self.reset_pub.publish(Empty()) + + def ab_result_callback(self, msg): + if not self.waiting: + return + rospy.loginfo("[TIAOSHI] A/B result: %s", msg.data) + self.schedule_next() + + +if __name__ == "__main__": + rospy.init_node("caim_debug_trigger") + try: + DebugTrigger() + rospy.spin() + except (rospy.ROSInterruptException, ValueError) as exc: + rospy.logerr("[TIAOSHI] %s", exc) diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/package.xml.stamp b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/package.xml.stamp new file mode 100644 index 0000000..1833a3b --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/package.xml.stamp @@ -0,0 +1,17 @@ + + + caim_tiaoshi + 0.1.0 + Standalone perception debugging tools for caim_core. + + yekai + MIT + + catkin + caim_core + geometry_msgs + nav_msgs + rospy + std_msgs + visualization_msgs + diff --git a/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/pkg.pc.em.stamp b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/pkg.pc.em.stamp new file mode 100644 index 0000000..549fb75 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/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/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/route_visualizer_node.py.stamp b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/route_visualizer_node.py.stamp new file mode 100755 index 0000000..34cbe39 --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/catkin_generated/stamps/caim_tiaoshi/route_visualizer_node.py.stamp @@ -0,0 +1,115 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""根据柱子识别组合生成 OctoMap 坐标系路线，仅用于可视化。""" + +import math + +import rospy +from geometry_msgs.msg import Point, PoseStamped +from nav_msgs.msg import Path +from std_msgs.msg import Int32 +from visualization_msgs.msg import Marker + + +class RouteVisualizer: + def __init__(self): + self.frame_id = rospy.get_param("~frame_id", "camera_init") + self.offset_x = float(rospy.get_param("~offset_x", 0.0)) + self.offset_y = float(rospy.get_param("~offset_y", 0.0)) + self.offset_z = float(rospy.get_param("~offset_z", 0.0)) + self.yaw = float(rospy.get_param("~yaw", math.pi / 2.0)) + self.start_x = float(rospy.get_param("~start_x", 0.0)) + self.start_y = float(rospy.get_param("~start_y", -2.30)) + self.start_z = float(rospy.get_param("~start_z", 0.80)) + self.route_z = float(rospy.get_param("~route_z", 0.50)) + self.pillars = rospy.get_param("~pillars") + + self.path_pub = rospy.Publisher( + "/caim/avoidance_route_octomap", Path, + queue_size=1, latch=True) + self.marker_pub = rospy.Publisher( + "/caim/avoidance_route_octomap_marker", Marker, + queue_size=1, latch=True) + rospy.Subscriber( + "/caim/detection_result", Int32, + self.result_callback, queue_size=1) + + rospy.loginfo( + "[TIAOSHI_ROUTE] Waiting for pillar result; frame=%s " + "transform=(%.2f, %.2f, %.2f, yaw %.3f).", + self.frame_id, self.offset_x, self.offset_y, + self.offset_z, self.yaw) + + def transform(self, x_value, y_value, z_value): + cosine = math.cos(self.yaw) + sine = math.sin(self.yaw) + point = Point() + point.x = self.offset_x + cosine * x_value - sine * y_value + point.y = self.offset_y + sine * x_value + cosine * y_value + point.z = self.offset_z + z_value + return point + + def result_callback(self, msg): + code = int(msg.data) + occupied = {code // 10, code % 10} + if code not in (13, 14, 23, 24): + rospy.logwarn("[TIAOSHI_ROUTE] Ignoring invalid result %02d.", code) + return + + empty_pillars = [ + pillar for pillar in self.pillars + if int(pillar["id"]) not in occupied + ] + if len(empty_pillars) != 2: + rospy.logerr( + "[TIAOSHI_ROUTE] Expected two empty positions, got %d.", + len(empty_pillars)) + return + + route = [(self.start_x, self.start_y, self.start_z)] + route.extend([ + (float(pillar["x"]), float(pillar["y"]), self.route_z) + for pillar in empty_pillars + ]) + + stamp = rospy.Time.now() + path = Path() + path.header.stamp = stamp + path.header.frame_id = self.frame_id + + marker = Marker() + marker.header = path.header + marker.ns = "caim_avoidance_route_octomap" + marker.id = 0 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.pose.orientation.w = 1.0 + marker.scale.x = 0.08 + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 0.2 + marker.color.a = 1.0 + + for x_value, y_value, z_value in route: + point = self.transform(x_value, y_value, z_value) + marker.points.append(point) + + pose = PoseStamped() + pose.header = path.header + pose.pose.position = point + pose.pose.orientation.w = 1.0 + path.poses.append(pose) + + self.path_pub.publish(path) + self.marker_pub.publish(marker) + rospy.loginfo( + "[TIAOSHI_ROUTE] Result %02d: published route through empty " + "pillar IDs %d and %d.", + code, int(empty_pillars[0]["id"]), int(empty_pillars[1]["id"])) + + +if __name__ == "__main__": + rospy.init_node("caim_route_visualizer") + RouteVisualizer() + rospy.spin() diff --git a/caim_ws_1.3/build/caim_tiaoshi/cmake_install.cmake b/caim_ws_1.3/build/caim_tiaoshi/cmake_install.cmake new file mode 100644 index 0000000..ebcf79f --- /dev/null +++ b/caim_ws_1.3/build/caim_tiaoshi/cmake_install.cmake @@ -0,0 +1,74 @@ +# Install script for directory: /home/yekai/caim_ws/src/caim_tiaoshi + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/yekai/caim_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/yekai/caim_ws/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshi.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_tiaoshi/cmake" TYPE FILE FILES + "/home/yekai/caim_ws/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig.cmake" + "/home/yekai/caim_ws/build/caim_tiaoshi/catkin_generated/installspace/caim_tiaoshiConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_tiaoshi" TYPE FILE FILES "/home/yekai/caim_ws/src/caim_tiaoshi/package.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/caim_tiaoshi" TYPE PROGRAM FILES "/home/yekai/caim_ws/build/caim_tiaoshi/catkin_generated/installspace/debug_trigger_node.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/caim_tiaoshi" TYPE PROGRAM FILES "/home/yekai/caim_ws/build/caim_tiaoshi/catkin_generated/installspace/route_visualizer_node.py") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_tiaoshi" TYPE DIRECTORY FILES "/home/yekai/caim_ws/src/caim_tiaoshi/launch") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/caim_tiaoshi" TYPE DIRECTORY FILES "/home/yekai/caim_ws/src/caim_tiaoshi/rviz") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/caim_tiaoshi" TYPE PROGRAM FILES "/home/yekai/caim_ws/src/caim_tiaoshi/start.sh") +endif() + diff --git a/caim_ws_1.3/build/catkin/catkin_generated/version/package.cmake b/caim_ws_1.3/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..590a615 --- /dev/null +++ b/caim_ws_1.3/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,24 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.8.12") +set(catkin_MAINTAINER "Geoffrey Biggs , Ivan Santiago Paunovic ") +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" "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/caim_ws_1.3/build/catkin_generated/env_cached.sh b/caim_ws_1.3/build/catkin_generated/env_cached.sh new file mode 100755 index 0000000..d6be91d --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/build/catkin_generated/generate_cached_setup.py b/caim_ws_1.3/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..74ccb20 --- /dev/null +++ b/caim_ws_1.3/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/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/noetic/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 '/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.split(';'): + python_path = os.path.join(workspace, 'lib/python3/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/yekai/caim_ws/devel/env.sh') + +output_filename = '/home/yekai/caim_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/caim_ws_1.3/build/catkin_generated/installspace/.rosinstall b/caim_ws_1.3/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..8a02ddd --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/install/setup.sh diff --git a/caim_ws_1.3/build/catkin_generated/installspace/_setup_util.py b/caim_ws_1.3/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/catkin_generated/installspace/env.sh b/caim_ws_1.3/build/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/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 "$@" diff --git a/caim_ws_1.3/build/catkin_generated/installspace/local_setup.bash b/caim_ws_1.3/build/catkin_generated/installspace/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/installspace/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/build/catkin_generated/installspace/local_setup.fish b/caim_ws_1.3/build/catkin_generated/installspace/local_setup.fish new file mode 100644 index 0000000..614d135 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/installspace/local_setup.fish @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/install +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/catkin_generated/installspace/local_setup.sh b/caim_ws_1.3/build/catkin_generated/installspace/local_setup.sh new file mode 100644 index 0000000..c453a38 --- /dev/null +++ b/caim_ws_1.3/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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/install} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/build/catkin_generated/installspace/local_setup.zsh b/caim_ws_1.3/build/catkin_generated/installspace/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/build/catkin_generated/installspace/setup.bash b/caim_ws_1.3/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/build/catkin_generated/installspace/setup.fish b/caim_ws_1.3/build/catkin_generated/installspace/setup.fish new file mode 100644 index 0000000..4df5017 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/installspace/setup.fish @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/install +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/build/catkin_generated/installspace/setup.sh b/caim_ws_1.3/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..ef3dd80 --- /dev/null +++ b/caim_ws_1.3/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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/install} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/build/catkin_generated/installspace/setup.zsh b/caim_ws_1.3/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/build/catkin_generated/order_packages.cmake b/caim_ws_1.3/build/catkin_generated/order_packages.cmake new file mode 100644 index 0000000..9d08b3a --- /dev/null +++ b/caim_ws_1.3/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 "caim_core") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "caim_core") +list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") +list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") +list(APPEND CATKIN_ORDERED_PACKAGES "caim_tiaoshi") +list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "caim_tiaoshi") +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/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in") diff --git a/caim_ws_1.3/build/catkin_generated/order_packages.py b/caim_ws_1.3/build/catkin_generated/order_packages.py new file mode 100644 index 0000000..a537f80 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/order_packages.py @@ -0,0 +1,5 @@ +# generated from catkin/cmake/template/order_packages.context.py.in +source_root_dir = '/home/yekai/caim_ws/src' +whitelisted_packages = ''.split(';') if '' != '' else [] +blacklisted_packages = ''.split(';') if '' != '' else [] +underlay_workspaces = '/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.split(';') if '/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic' != '' else [] diff --git a/caim_ws_1.3/build/catkin_generated/setup_cached.sh b/caim_ws_1.3/build/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..fbdb01d --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/setup_cached.sh @@ -0,0 +1,12 @@ +#!/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 PATH='/opt/ros/noetic/bin:/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:/home/yekai/.local/bin:/home/yekai/.codex/tmp/arg0/codex-arg0wGaedy:/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:/home/yekai/.local/bin:/home/yekai/.nvm/versions/node/v20.20.2/bin:/home/yekai/anaconda3/condabin:/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:/home/yekai/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/yekai/.vscode/extensions/openai.chatgpt-26.707.91948-linux-x64/bin/linux-x86_64' +export PWD='/home/yekai/caim_ws/build' +export ROS_PACKAGE_PATH='/home/yekai/caim_ws/src:/home/yekai/realsense_ros_gazebo/src/realsense_ros_gazebo:/home/yekai/catkin_ws/src:/opt/ros/noetic/share' \ No newline at end of file diff --git a/caim_ws_1.3/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/caim_ws_1.3/build/catkin_generated/stamps/Project/_setup_util.py.stamp new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/caim_ws_1.3/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..5e25fbf --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/caim_ws_1.3/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp new file mode 100644 index 0000000..7ec7539 --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/build/catkin_generated/stamps/Project/package.xml.stamp b/caim_ws_1.3/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000..2d53522 --- /dev/null +++ b/caim_ws_1.3/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,50 @@ + + + + catkin + 0.8.12 + Low-level build system macros and infrastructure for ROS. + Geoffrey Biggs + Ivan Santiago Paunovic + 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 + Michael Carroll + Tully Foote + + 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 + python-nose + python3-nose + + + + + + diff --git a/caim_ws_1.3/build/catkin_make.cache b/caim_ws_1.3/build/catkin_make.cache new file mode 100644 index 0000000..4e947c0 --- /dev/null +++ b/caim_ws_1.3/build/catkin_make.cache @@ -0,0 +1,2 @@ +caim_core:caim_tiaoshi +-DCATKIN_DEVEL_PREFIX=/home/yekai/caim_ws/devel -DCMAKE_INSTALL_PREFIX=/home/yekai/caim_ws/install -G Unix Makefiles \ No newline at end of file diff --git a/caim_ws_1.3/build/cmake_install.cmake b/caim_ws_1.3/build/cmake_install.cmake new file mode 100644 index 0000000..2b24294 --- 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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/yekai/caim_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 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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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/yekai/caim_ws/install" TYPE FILE FILES + "/home/yekai/caim_ws/build/catkin_generated/installspace/setup.sh" + "/home/yekai/caim_ws/build/catkin_generated/installspace/local_setup.sh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/yekai/caim_ws/install/setup.zsh;/home/yekai/caim_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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/yekai/caim_ws/install" TYPE FILE FILES + "/home/yekai/caim_ws/build/catkin_generated/installspace/setup.zsh" + "/home/yekai/caim_ws/build/catkin_generated/installspace/local_setup.zsh" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/yekai/caim_ws/install/setup.fish;/home/yekai/caim_ws/install/local_setup.fish") + 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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/yekai/caim_ws/install" TYPE FILE FILES + "/home/yekai/caim_ws/build/catkin_generated/installspace/setup.fish" + "/home/yekai/caim_ws/build/catkin_generated/installspace/local_setup.fish" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES + "/home/yekai/caim_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): ${CMAKE_ABSOLUTE_DESTINATION_FILES}") + endif() +file(INSTALL DESTINATION "/home/yekai/caim_ws/install" TYPE FILE FILES "/home/yekai/caim_ws/build/catkin_generated/installspace/.rosinstall") +endif() + +if(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + include("/home/yekai/caim_ws/build/gtest/cmake_install.cmake") + include("/home/yekai/caim_ws/build/caim_core/cmake_install.cmake") + include("/home/yekai/caim_ws/build/caim_tiaoshi/cmake_install.cmake") + +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/yekai/caim_ws/build/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/caim_ws_1.3/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/caim_ws_1.3/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..8176c8b --- /dev/null +++ b/caim_ws_1.3/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,16 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Relative path conversion top directories. 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Source directory: /usr/src/googletest +# Build directory: /home/yekai/caim_ws/build/gtest +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +subdirs("googlemock") diff --git a/caim_ws_1.3/build/gtest/Makefile b/caim_ws_1.3/build/gtest/Makefile new file mode 100644 index 0000000..196526d --- /dev/null +++ b/caim_ws_1.3/build/gtest/Makefile @@ -0,0 +1,196 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" at a time, but pass parallelism. +.NOTPARALLEL: + + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/bin/cmake + +# The command to remove a file. +RM = /usr/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /home/yekai/caim_ws/src + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /home/yekai/caim_ws/build + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target install/strip +install/strip: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip + +# Special rule for the target install/strip +install/strip/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..." + /usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake +.PHONY : install/strip/fast + +# Special rule for the target install/local +install/local: preinstall + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake +.PHONY : install/local + +# Special rule for the target install/local +install/local/fast: preinstall/fast + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..." + /usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P 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/home/yekai/caim_ws/build/gtest/googletest/CMakeFiles/progress.marks + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/googletest/all + $(CMAKE_COMMAND) -E cmake_progress_start /home/yekai/caim_ws/build/CMakeFiles 0 +.PHONY : all + +# The main clean target +clean: + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/googletest/clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/googletest/preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/googletest/preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + cd /home/yekai/caim_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Convenience name for target. +gtest/googletest/CMakeFiles/gtest_main.dir/rule: + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/googletest/CMakeFiles/gtest_main.dir/rule +.PHONY : gtest/googletest/CMakeFiles/gtest_main.dir/rule + +# Convenience name for target. +gtest_main: gtest/googletest/CMakeFiles/gtest_main.dir/rule + +.PHONY : gtest_main + +# fast build rule for target. +gtest_main/fast: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/build +.PHONY : gtest_main/fast + +# Convenience name for target. +gtest/googletest/CMakeFiles/gtest.dir/rule: + cd /home/yekai/caim_ws/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/googletest/CMakeFiles/gtest.dir/rule +.PHONY : gtest/googletest/CMakeFiles/gtest.dir/rule + +# Convenience name for target. +gtest: gtest/googletest/CMakeFiles/gtest.dir/rule + +.PHONY : gtest + +# fast build rule for target. +gtest/fast: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest.dir/build.make gtest/googletest/CMakeFiles/gtest.dir/build +.PHONY : gtest/fast + +src/gtest-all.o: src/gtest-all.cc.o + +.PHONY : src/gtest-all.o + +# target to build an object file +src/gtest-all.cc.o: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest.dir/build.make gtest/googletest/CMakeFiles/gtest.dir/src/gtest-all.cc.o +.PHONY : src/gtest-all.cc.o + +src/gtest-all.i: src/gtest-all.cc.i + +.PHONY : src/gtest-all.i + +# target to preprocess a source file +src/gtest-all.cc.i: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest.dir/build.make gtest/googletest/CMakeFiles/gtest.dir/src/gtest-all.cc.i +.PHONY : src/gtest-all.cc.i + +src/gtest-all.s: src/gtest-all.cc.s + +.PHONY : src/gtest-all.s + +# target to generate assembly for a file +src/gtest-all.cc.s: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest.dir/build.make gtest/googletest/CMakeFiles/gtest.dir/src/gtest-all.cc.s +.PHONY : src/gtest-all.cc.s + +src/gtest_main.o: src/gtest_main.cc.o + +.PHONY : src/gtest_main.o + +# target to build an object file +src/gtest_main.cc.o: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o +.PHONY : src/gtest_main.cc.o + +src/gtest_main.i: src/gtest_main.cc.i + +.PHONY : src/gtest_main.i + +# target to preprocess a source file +src/gtest_main.cc.i: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.i +.PHONY : src/gtest_main.cc.i + +src/gtest_main.s: src/gtest_main.cc.s + +.PHONY : src/gtest_main.s + +# target to generate assembly for a file +src/gtest_main.cc.s: + cd /home/yekai/caim_ws/build && $(MAKE) -f gtest/googletest/CMakeFiles/gtest_main.dir/build.make gtest/googletest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.s +.PHONY : src/gtest_main.cc.s + +# 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 "... install" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... edit_cache" + @echo "... test" + @echo "... gtest_main" + @echo "... gtest" + @echo "... src/gtest-all.o" + @echo "... src/gtest-all.i" + @echo "... src/gtest-all.s" + @echo "... src/gtest_main.o" + @echo "... src/gtest_main.i" + @echo "... src/gtest_main.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/yekai/caim_ws/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/caim_ws_1.3/build/gtest/googletest/cmake_install.cmake b/caim_ws_1.3/build/gtest/googletest/cmake_install.cmake new file mode 100644 index 0000000..183bbdb --- /dev/null +++ b/caim_ws_1.3/build/gtest/googletest/cmake_install.cmake @@ -0,0 +1,39 @@ +# Install script for directory: /usr/src/googletest/googletest + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/yekai/caim_ws/install") +endif() +string(REGEX REPLACE "/$" "" 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() + diff --git a/caim_ws_1.3/devel/.built_by b/caim_ws_1.3/devel/.built_by new file mode 100644 index 0000000..2e212dd --- /dev/null +++ b/caim_ws_1.3/devel/.built_by @@ -0,0 +1 @@ +catkin_make \ No newline at end of file diff --git a/caim_ws_1.3/devel/.catkin b/caim_ws_1.3/devel/.catkin new file mode 100644 index 0000000..fb1abfe --- /dev/null +++ b/caim_ws_1.3/devel/.catkin @@ -0,0 +1 @@ +/home/yekai/caim_ws/src \ No newline at end of file diff --git a/caim_ws_1.3/devel/.rosinstall b/caim_ws_1.3/devel/.rosinstall new file mode 100644 index 0000000..67f632a --- /dev/null +++ b/caim_ws_1.3/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/yekai/caim_ws/devel/setup.sh diff --git a/caim_ws_1.3/devel/_setup_util.py b/caim_ws_1.3/devel/_setup_util.py new file mode 100755 index 0000000..3949939 --- /dev/null +++ b/caim_ws_1.3/devel/_setup_util.py @@ -0,0 +1,304 @@ +#!/usr/bin/python3 +# -*- 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/python3/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'/home/yekai/caim_ws/devel;/home/yekai/realsense_ros_gazebo/devel;/home/yekai/catkin_ws/devel;/opt/ros/noetic'.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/caim_ws_1.3/devel/env.sh b/caim_ws_1.3/devel/env.sh new file mode 100755 index 0000000..8aa9d24 --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/devel/lib/caim_core/d435_color_view_node b/caim_ws_1.3/devel/lib/caim_core/d435_color_view_node new file mode 100755 index 0000000..da9420c Binary files /dev/null and b/caim_ws_1.3/devel/lib/caim_core/d435_color_view_node differ diff --git a/caim_ws_1.3/devel/lib/caim_core/d435_laser_targeting_node.py b/caim_ws_1.3/devel/lib/caim_core/d435_laser_targeting_node.py new file mode 100755 index 0000000..32fa295 --- /dev/null +++ b/caim_ws_1.3/devel/lib/caim_core/d435_laser_targeting_node.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/d435_laser_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/devel/lib/caim_core/depth_aligner.py b/caim_ws_1.3/devel/lib/caim_core/depth_aligner.py new file mode 100755 index 0000000..efe04d6 --- /dev/null +++ b/caim_ws_1.3/devel/lib/caim_core/depth_aligner.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/depth_aligner.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/devel/lib/caim_core/downward_visual_detector_node b/caim_ws_1.3/devel/lib/caim_core/downward_visual_detector_node new file mode 100755 index 0000000..b867213 Binary files /dev/null and b/caim_ws_1.3/devel/lib/caim_core/downward_visual_detector_node differ diff --git a/caim_ws_1.3/devel/lib/caim_core/pillar_detector_node b/caim_ws_1.3/devel/lib/caim_core/pillar_detector_node new file mode 100755 index 0000000..00e00d3 Binary files /dev/null and b/caim_ws_1.3/devel/lib/caim_core/pillar_detector_node differ diff --git a/caim_ws_1.3/devel/lib/caim_core/position_node b/caim_ws_1.3/devel/lib/caim_core/position_node new file mode 100755 index 0000000..b72da96 Binary files /dev/null and b/caim_ws_1.3/devel/lib/caim_core/position_node differ diff --git a/caim_ws_1.3/devel/lib/caim_core/trajectory_executor_node b/caim_ws_1.3/devel/lib/caim_core/trajectory_executor_node new file mode 100755 index 0000000..c4b69cc Binary files /dev/null and b/caim_ws_1.3/devel/lib/caim_core/trajectory_executor_node differ diff --git a/caim_ws_1.3/devel/lib/caim_core/usb_camera_node.py b/caim_ws_1.3/devel/lib/caim_core/usb_camera_node.py new file mode 100755 index 0000000..0345044 --- /dev/null +++ b/caim_ws_1.3/devel/lib/caim_core/usb_camera_node.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_camera_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/devel/lib/caim_core/usb_targeting_node.py b/caim_ws_1.3/devel/lib/caim_core/usb_targeting_node.py new file mode 100755 index 0000000..228a5cb --- /dev/null +++ b/caim_ws_1.3/devel/lib/caim_core/usb_targeting_node.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_core/scripts/usb_targeting_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/devel/lib/caim_tiaoshi/debug_trigger_node.py b/caim_ws_1.3/devel/lib/caim_tiaoshi/debug_trigger_node.py new file mode 100755 index 0000000..ec2d047 --- /dev/null +++ b/caim_ws_1.3/devel/lib/caim_tiaoshi/debug_trigger_node.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/debug_trigger_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/devel/lib/caim_tiaoshi/route_visualizer_node.py b/caim_ws_1.3/devel/lib/caim_tiaoshi/route_visualizer_node.py new file mode 100755 index 0000000..b5484d5 --- /dev/null +++ b/caim_ws_1.3/devel/lib/caim_tiaoshi/route_visualizer_node.py @@ -0,0 +1,15 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +# generated from catkin/cmake/template/script.py.in +# creates a relay to a python script source file, acting as that file. +# The purpose is that of a symlink +python_script = '/home/yekai/caim_ws/src/caim_tiaoshi/scripts/route_visualizer_node.py' +with open(python_script, 'r') as fh: + context = { + '__builtins__': __builtins__, + '__doc__': None, + '__file__': python_script, + '__name__': __name__, + '__package__': None, + } + exec(compile(fh.read(), python_script, 'exec'), context) diff --git a/caim_ws_1.3/devel/lib/pkgconfig/caim_core.pc b/caim_ws_1.3/devel/lib/pkgconfig/caim_core.pc new file mode 100644 index 0000000..1578036 --- /dev/null +++ b/caim_ws_1.3/devel/lib/pkgconfig/caim_core.pc @@ -0,0 +1,8 @@ +prefix=/home/yekai/caim_ws/devel + +Name: caim_core +Description: Description of caim_core +Version: 0.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/caim_ws_1.3/devel/lib/pkgconfig/caim_tiaoshi.pc b/caim_ws_1.3/devel/lib/pkgconfig/caim_tiaoshi.pc new file mode 100644 index 0000000..89972e7 --- /dev/null +++ b/caim_ws_1.3/devel/lib/pkgconfig/caim_tiaoshi.pc @@ -0,0 +1,8 @@ +prefix=/home/yekai/caim_ws/devel + +Name: caim_tiaoshi +Description: Description of caim_tiaoshi +Version: 0.1.0 +Cflags: +Libs: -L${prefix}/lib +Requires: geometry_msgs nav_msgs rospy std_msgs visualization_msgs caim_core diff --git a/caim_ws_1.3/devel/local_setup.bash b/caim_ws_1.3/devel/local_setup.bash new file mode 100644 index 0000000..7da0d97 --- /dev/null +++ b/caim_ws_1.3/devel/local_setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/local_setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/caim_ws_1.3/devel/local_setup.fish b/caim_ws_1.3/devel/local_setup.fish new file mode 100644 index 0000000..8449ee7 --- /dev/null +++ b/caim_ws_1.3/devel/local_setup.fish @@ -0,0 +1,14 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/local_setup.fish.in + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set CATKIN_SETUP_UTIL_ARGS "--extend --local" +source "$_CATKIN_SETUP_DIR/setup.fish" + +set -e CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/devel/local_setup.sh b/caim_ws_1.3/devel/local_setup.sh new file mode 100644 index 0000000..e17c40d --- /dev/null +++ b/caim_ws_1.3/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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +CATKIN_SETUP_UTIL_ARGS="--extend --local" +. "$_CATKIN_SETUP_DIR/setup.sh" +unset CATKIN_SETUP_UTIL_ARGS diff --git a/caim_ws_1.3/devel/local_setup.zsh b/caim_ws_1.3/devel/local_setup.zsh new file mode 100644 index 0000000..e692acc --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/devel/setup.bash b/caim_ws_1.3/devel/setup.bash new file mode 100644 index 0000000..ff47af8 --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/devel/setup.fish b/caim_ws_1.3/devel/setup.fish new file mode 100644 index 0000000..148df9f --- /dev/null +++ b/caim_ws_1.3/devel/setup.fish @@ -0,0 +1,129 @@ +#!/usr/bin/env fish +# generated from catkin/cmake/template/setup.fish.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 + +if not type -q bass + echo "Missing required fish plugin: bass. See https://github.com/edc/bass" + exit 22 +end + +if test -z $_CATKIN_SETUP_DIR + set _CATKIN_SETUP_DIR /home/yekai/caim_ws/devel +end + +set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py" +set -e _CATKIN_SETUP_DIR + +if not test -f "$_SETUP_UTIL" + echo "Missing Python script: $_SETUP_UTIL" + exit 22 +end + +# detect if running on Darwin platform +set _UNAME (uname -s) +set _IS_DARWIN 0 + +if test "$_UNAME" = Darwin + set _IS_DARWIN 1 +end + +set -e _UNAME + +# make sure to export all environment variables +set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH +if test $_IS_DARWIN -eq 0 + set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH +else + set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH +end + +set -e _IS_DARWIN +set -x PATH $PATH +set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH +set -x PYTHONPATH $PYTHONPATH + +# remember type of shell if not already set +if test -z "$CATKIN_SHELL" + set CATKIN_SHELL fish +end + +# invoke Python script to generate necessary exports of environment variables +# use TMPDIR if it exists, otherwise fall back to /tmp +if test -d "$TMPDIR" + set _TMPDIR "$TMPDIR" +else + set _TMPDIR /tmp +end + +set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX") +set -e _TMPDIR + +if test $status -ne 0 -o ! -f "$_SETUP_TMP" + echo "Could not create temporary file: $_SETUP_TMP" + exit 1 +end + +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP" +set _RC $status + +if test $_RC -ne 0 + if test $_RC -eq 2 + then + echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC" + end + set -e _RC + set -e _SETUP_UTIL + rm -f "$_SETUP_TMP" + set -e _SETUP_TMP + exit 1 +end + +set -e _RC +set -e _SETUP_UTIL +source "$_SETUP_TMP" +rm -f "$_SETUP_TMP" +set -e _SETUP_TMP + +# source all environment hooks +set _i 0 +while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT + # fish doesn't allow use of ${} to delimit variables within a string + set _i_WORKSPACE (string join "" "$i" "_WORKSPACE") + + eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i + eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE + + # set workspace for environment hook + set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace + + # non ideal: some packages register bash scripts as fish env hooks + # it is needed to perform an extension check for backwards compatibility + # if the script ends with .sh, .bash or .zsh, run it with bass + set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile") + if test -n "$IS_SH_SCRIPT" + bass source "$_envfile" + else + source "$_envfile" + end + + set -e IS_SH_SCRIPT + set -e CATKIN_ENV_HOOK_WORKSPACE + set _i (math $_i + 1) +end +set -e _i + +set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/caim_ws_1.3/devel/setup.sh b/caim_ws_1.3/devel/setup.sh new file mode 100644 index 0000000..cae76b8 --- /dev/null +++ b/caim_ws_1.3/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 +: ${_CATKIN_SETUP_DIR:=/home/yekai/caim_ws/devel} +_SETUP_UTIL="$_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 '$_SETUP_TMP': maybe the disk is full?" + else + echo "Failed to run '\"$_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/caim_ws_1.3/devel/setup.zsh b/caim_ws_1.3/devel/setup.zsh new file mode 100644 index 0000000..9f780b7 --- /dev/null +++ b/caim_ws_1.3/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/caim_ws_1.3/devel/share/caim_core/cmake/caim_coreConfig-version.cmake b/caim_ws_1.3/devel/share/caim_core/cmake/caim_coreConfig-version.cmake new file mode 100644 index 0000000..7fd9f99 --- /dev/null +++ b/caim_ws_1.3/devel/share/caim_core/cmake/caim_coreConfig-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/caim_ws_1.3/devel/share/caim_core/cmake/caim_coreConfig.cmake b/caim_ws_1.3/devel/share/caim_core/cmake/caim_coreConfig.cmake new file mode 100644 index 0000000..99784f6 --- /dev/null +++ b/caim_ws_1.3/devel/share/caim_core/cmake/caim_coreConfig.cmake @@ -0,0 +1,225 @@ +# 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(caim_core_CONFIG_INCLUDED) + return() +endif() +set(caim_core_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(caim_core_SOURCE_PREFIX /home/yekai/caim_ws/src/caim_core) + set(caim_core_DEVEL_PREFIX /home/yekai/caim_ws/devel) + set(caim_core_INSTALL_PREFIX "") + set(caim_core_PREFIX ${caim_core_DEVEL_PREFIX}) +else() + set(caim_core_SOURCE_PREFIX "") + set(caim_core_DEVEL_PREFIX "") + set(caim_core_INSTALL_PREFIX /home/yekai/caim_ws/install) + set(caim_core_PREFIX ${caim_core_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'caim_core' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(caim_core_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(caim_core_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 'yekai ' 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 "${caim_core_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'caim_core' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'caim_core' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/yekai/caim_ws/src/caim_core/${idir}'. ${_report}") + endif() + _list_append_unique(caim_core_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND caim_core_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND caim_core_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 caim_core_NUM_DUMMY_TARGETS) + set(caim_core_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::caim_core::wrapped-linker-option${caim_core_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR caim_core_NUM_DUMMY_TARGETS "${caim_core_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::caim_core::wrapped-linker-option${caim_core_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 caim_core_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND caim_core_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND caim_core_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND caim_core_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/yekai/caim_ws/devel/lib;/home/yekai/caim_ws/devel/lib;/home/yekai/realsense_ros_gazebo/devel/lib;/home/yekai/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(caim_core_LIBRARY_DIRS ${lib_path}) + list(APPEND caim_core_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 'caim_core'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND caim_core_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(caim_core_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${caim_core_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 caim_core_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${caim_core_dep}_FOUND) + find_package(${caim_core_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${caim_core_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(caim_core_INCLUDE_DIRS ${${caim_core_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(caim_core_LIBRARIES ${caim_core_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${caim_core_dep}_LIBRARIES}) + _list_append_deduplicate(caim_core_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(caim_core_LIBRARIES ${caim_core_LIBRARIES}) + + _list_append_unique(caim_core_LIBRARY_DIRS ${${caim_core_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(caim_core_EXPORTED_TARGETS ${${caim_core_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${caim_core_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/caim_ws_1.3/devel/share/caim_tiaoshi/cmake/caim_tiaoshiConfig-version.cmake b/caim_ws_1.3/devel/share/caim_tiaoshi/cmake/caim_tiaoshiConfig-version.cmake new file mode 100644 index 0000000..e03eef1 --- /dev/null +++ b/caim_ws_1.3/devel/share/caim_tiaoshi/cmake/caim_tiaoshiConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.1.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/caim_ws_1.3/devel/share/caim_tiaoshi/cmake/caim_tiaoshiConfig.cmake b/caim_ws_1.3/devel/share/caim_tiaoshi/cmake/caim_tiaoshiConfig.cmake new file mode 100644 index 0000000..d61b0c9 --- /dev/null +++ b/caim_ws_1.3/devel/share/caim_tiaoshi/cmake/caim_tiaoshiConfig.cmake @@ -0,0 +1,225 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${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(caim_tiaoshi_CONFIG_INCLUDED) + return() +endif() +set(caim_tiaoshi_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(caim_tiaoshi_SOURCE_PREFIX /home/yekai/caim_ws/src/caim_tiaoshi) + set(caim_tiaoshi_DEVEL_PREFIX /home/yekai/caim_ws/devel) + set(caim_tiaoshi_INSTALL_PREFIX "") + set(caim_tiaoshi_PREFIX ${caim_tiaoshi_DEVEL_PREFIX}) +else() + set(caim_tiaoshi_SOURCE_PREFIX "") + set(caim_tiaoshi_DEVEL_PREFIX "") + set(caim_tiaoshi_INSTALL_PREFIX /home/yekai/caim_ws/install) + set(caim_tiaoshi_PREFIX ${caim_tiaoshi_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'caim_tiaoshi' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(caim_tiaoshi_FOUND_CATKIN_PROJECT TRUE) + +if(NOT " " STREQUAL " ") + set(caim_tiaoshi_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 'yekai ' 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 "${caim_tiaoshi_DIR}/../../../include" ABSOLUTE) + if(NOT IS_DIRECTORY ${include}) + message(FATAL_ERROR "Project 'caim_tiaoshi' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") + endif() + else() + message(FATAL_ERROR "Project 'caim_tiaoshi' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/yekai/caim_ws/src/caim_tiaoshi/${idir}'. ${_report}") + endif() + _list_append_unique(caim_tiaoshi_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is + if("${library}" MATCHES "^(debug|optimized|general)$") + list(APPEND caim_tiaoshi_LIBRARIES ${library}) + elseif(${library} MATCHES "^-l") + list(APPEND caim_tiaoshi_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 caim_tiaoshi_NUM_DUMMY_TARGETS) + set(caim_tiaoshi_NUM_DUMMY_TARGETS 0) + endif() + # Make sure the target name is unique + set(interface_target_name "catkin::caim_tiaoshi::wrapped-linker-option${caim_tiaoshi_NUM_DUMMY_TARGETS}") + while(TARGET "${interface_target_name}") + math(EXPR caim_tiaoshi_NUM_DUMMY_TARGETS "${caim_tiaoshi_NUM_DUMMY_TARGETS}+1") + set(interface_target_name "catkin::caim_tiaoshi::wrapped-linker-option${caim_tiaoshi_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 caim_tiaoshi_LIBRARIES "${interface_target_name}") + elseif(${library} MATCHES "^\\$<") + list(APPEND caim_tiaoshi_LIBRARIES ${library}) + elseif(TARGET ${library}) + list(APPEND caim_tiaoshi_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND caim_tiaoshi_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/yekai/caim_ws/devel/lib;/home/yekai/caim_ws/devel/lib;/home/yekai/realsense_ros_gazebo/devel/lib;/home/yekai/catkin_ws/devel/lib;/opt/ros/noetic/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(caim_tiaoshi_LIBRARY_DIRS ${lib_path}) + list(APPEND caim_tiaoshi_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 'caim_tiaoshi'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND caim_tiaoshi_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(caim_tiaoshi_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${caim_tiaoshi_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "geometry_msgs;nav_msgs;rospy;std_msgs;visualization_msgs;caim_core") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 caim_tiaoshi_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${caim_tiaoshi_dep}_FOUND) + find_package(${caim_tiaoshi_dep} REQUIRED NO_MODULE) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${caim_tiaoshi_dep} REQUIRED NO_MODULE ${depend_list}) + endif() + _list_append_unique(caim_tiaoshi_INCLUDE_DIRS ${${caim_tiaoshi_dep}_INCLUDE_DIRS}) + + # merge build configuration keywords with library names to correctly deduplicate + _pack_libraries_with_build_configuration(caim_tiaoshi_LIBRARIES ${caim_tiaoshi_LIBRARIES}) + _pack_libraries_with_build_configuration(_libraries ${${caim_tiaoshi_dep}_LIBRARIES}) + _list_append_deduplicate(caim_tiaoshi_LIBRARIES ${_libraries}) + # undo build configuration keyword merging after deduplication + _unpack_libraries_with_build_configuration(caim_tiaoshi_LIBRARIES ${caim_tiaoshi_LIBRARIES}) + + _list_append_unique(caim_tiaoshi_LIBRARY_DIRS ${${caim_tiaoshi_dep}_LIBRARY_DIRS}) + _list_append_deduplicate(caim_tiaoshi_EXPORTED_TARGETS ${${caim_tiaoshi_dep}_EXPORTED_TARGETS}) +endforeach() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${caim_tiaoshi_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/caim_ws_1.3/maps/competition.bt b/caim_ws_1.3/maps/competition.bt new file mode 100644 index 0000000..5935bff Binary files /dev/null and b/caim_ws_1.3/maps/competition.bt differ diff --git a/caim_ws_1.3/maps/competition.ot b/caim_ws_1.3/maps/competition.ot new file mode 100644 index 0000000..474ff0c Binary files /dev/null and b/caim_ws_1.3/maps/competition.ot differ diff --git a/caim_ws_1.3/src/CMakeLists.txt b/caim_ws_1.3/src/CMakeLists.txt new file mode 120000 index 0000000..2016816 --- /dev/null +++ b/caim_ws_1.3/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/caim_ws_1.3/src/caim_core/CMakeLists.txt b/caim_ws_1.3/src/caim_core/CMakeLists.txt new file mode 100644 index 0000000..bd3bc4d --- /dev/null +++ b/caim_ws_1.3/src/caim_core/CMakeLists.txt @@ -0,0 +1,259 @@ +cmake_minimum_required(VERSION 3.0.2) +project(caim_core) + +## 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 + std_msgs + sensor_msgs + geometry_msgs + nav_msgs + pcl_conversions + pcl_ros + visualization_msgs + mavros_msgs + cv_bridge + image_transport +) +find_package(PCL REQUIRED) +find_package(Eigen3 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 +# geometry_msgs# nav_msgs# sensor_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 caim_core +# CATKIN_DEPENDS geometry_msgs nav_msgs pcl_conversions pcl_ros roscpp sensor_msgs 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} + ${PCL_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ${OpenCV_INCLUDE_DIRS} +) +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/caim_core.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/caim_core_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 ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_caim_core.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) +add_executable(pillar_detector_node src/pillar_detector_node.cpp) +target_link_libraries(pillar_detector_node + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} +) +add_executable(trajectory_executor_node src/trajectory_executor_node.cpp) +target_link_libraries(trajectory_executor_node + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} +) +add_executable(position_node src/position_node.cpp) +target_link_libraries(position_node +${catkin_LIBRARIES} +) +add_executable(downward_visual_detector_node src/downward_visual_detector_node.cpp) +target_link_libraries(downward_visual_detector_node +${catkin_LIBRARIES} +) +add_executable(d435_color_view_node src/d435_color_view_node.cpp) +target_link_libraries(d435_color_view_node +${catkin_LIBRARIES} +) +catkin_install_python(PROGRAMS + scripts/usb_camera_node.py + scripts/usb_targeting_node.py + scripts/depth_aligner.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch rviz models + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(PROGRAMS + scripts/yolo_python.sh + scripts/ros_python_bootstrap.py + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts +) diff --git a/caim_ws_1.3/src/caim_core/docs/launch_and_logic.md b/caim_ws_1.3/src/caim_core/docs/launch_and_logic.md new file mode 100644 index 0000000..91457c1 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/docs/launch_and_logic.md @@ -0,0 +1,29 @@ +# caim_core 启动与调试说明 + +完整任务不使用总 launch，由工作区根目录脚本分别启动各模块： + +```bash +cd +./start.sh +``` + +该脚本会启动柱子识别、下视识别、避障执行器、主状态机和 A/B 识别。 +`position_node` 保持原任务逻辑，会连接 MAVROS、请求 OFFBOARD、自动解锁并在 +任务最后请求 `AUTO.LAND`。 + +脚本按自身所在目录定位工作区，不依赖用户名或工作区绝对路径。USB 摄像头默认 +使用设备序号 0；需要切换设备时执行： + +```bash +CAIM_USB_CAMERA_INDEX=1 ./start.sh +``` + +真机推荐使用稳定的硬件名，不依赖 `video0/video1` 编号： + +```bash +ls -l /dev/v4l/by-id/ +CAIM_USB_CAMERA_NAME= ./start.sh +``` + +不需要主状态机的感知调试位于 `caim_tiaoshi` 包。它只启动被调试的识别节点 +和自动触发器，不启动飞行控制节点。详细命令见该包 README。 diff --git a/caim_ws_1.3/src/caim_core/launch/box_perception.launch b/caim_ws_1.3/src/caim_core/launch/box_perception.launch new file mode 100644 index 0000000..d451768 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/box_perception.launch @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/caim_ws_1.3/src/caim_core/launch/downward_visual.launch b/caim_ws_1.3/src/caim_core/launch/downward_visual.launch new file mode 100644 index 0000000..f65eafa --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/downward_visual.launch @@ -0,0 +1,151 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/caim_ws_1.3/src/caim_core/launch/position_node.launch b/caim_ws_1.3/src/caim_core/launch/position_node.launch new file mode 100644 index 0000000..c705cfb --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/position_node.launch @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - {name: "Takeoff", x: 0.00, y: 0.00, z: 0.50, task: 0} + - {name: "Hole_Exit", x: 0.00, y: -1.60, z: 0.50, task: 0} + + - {name: "Avoid_Trigger", x: $(arg avoid_start_x), y: $(arg avoid_start_y), z: $(arg avoid_start_z), task: 1} + - {name: "Avoid_Exit", x: 2.50, y: -2.35, z: 0.80, task: 0} + + - {name: "AB_Recognition_Hover", x: 2.50, y: -1.35, z: 0.80, task: 2} + + - {name: "Ground_Target", x: 2.10, y: -0.45, z: 0.80, task: 3} + + + - {name: "Target_Left", x: 1.60, y: -0.15, z: 1.35, yaw: 1.5708, task: 4} + - {name: "Target_Right", x: 2.60, y: -0.15, z: 1.35, yaw: 1.5708, task: 4} + + + - {name: "Return_Right", x: 2.50, y: -1.35, z: 0.50, task: 0} + - {name: "Return_Avoid", x: 2.50, y: -2.35, z: 0.50, task: 7} + + + - {name: "Return_Hole_Exit", x: 0.00, y: -1.60, z: 0.50, task: 0} + - {name: "Return_Hole_Approach", x: 0.00, y: -0.90, z: 0.50, task: 0} + - {name: "Home", x: 0.00, y: 0.00, z: 0.50, task: 0} + - {name: "Land", x: 0.00, y: 0.00, z: 0.50, task: 5} + + + diff --git a/caim_ws_1.3/src/caim_core/launch/routes.launch b/caim_ws_1.3/src/caim_core/launch/routes.launch new file mode 100644 index 0000000..d2793cb --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/routes.launch @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - {id: 1, x: 0.80, y: -2.05} # 左列上方 + - {id: 2, x: 0.80, y: -2.65} # 左列下方 + - {id: 3, x: 2.05, y: -2.05} # 右列上方 + - {id: 4, x: 2.05, y: -2.65} # 右列下方 + + + + + + + diff --git a/caim_ws_1.3/src/caim_core/launch/target_finding.launch b/caim_ws_1.3/src/caim_core/launch/target_finding.launch new file mode 100644 index 0000000..633c47c --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/target_finding.launch @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/caim_ws_1.3/src/caim_core/launch/target_finding_legacy.launch b/caim_ws_1.3/src/caim_core/launch/target_finding_legacy.launch new file mode 100644 index 0000000..537704e --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/target_finding_legacy.launch @@ -0,0 +1,9 @@ + + + + + diff --git a/caim_ws_1.3/src/caim_core/launch/target_finding（复件）.launch b/caim_ws_1.3/src/caim_core/launch/target_finding（复件）.launch new file mode 100644 index 0000000..0ea2d34 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/launch/target_finding（复件）.launch @@ -0,0 +1,8 @@ + + + + + diff --git a/caim_ws_1.3/src/caim_core/models/best.pt b/caim_ws_1.3/src/caim_core/models/best.pt new file mode 100644 index 0000000..4df362f Binary files /dev/null and b/caim_ws_1.3/src/caim_core/models/best.pt differ diff --git a/caim_ws_1.3/src/caim_core/package.xml b/caim_ws_1.3/src/caim_core/package.xml new file mode 100644 index 0000000..e818682 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/package.xml @@ -0,0 +1,90 @@ + + + caim_core + 0.0.0 + The caim_core package + + + + + yekai + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + cv_bridge + image_transport + nav_msgs + pcl_conversions + pcl_ros + roscpp + rospy + sensor_msgs + std_msgs + rviz + + + + + + + + diff --git a/caim_ws_1.3/src/caim_core/rviz/avoidance_route.rviz b/caim_ws_1.3/src/caim_core/rviz/avoidance_route.rviz new file mode 100644 index 0000000..6eb2c7d --- /dev/null +++ b/caim_ws_1.3/src/caim_core/rviz/avoidance_route.rviz @@ -0,0 +1,115 @@ +Panels: + - Class: rviz/Displays + Name: Displays + - Class: rviz/Views + Name: Views +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Name: Grid + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 80 + Enabled: true + Head Diameter: 0.12 + Head Length: 0.08 + Length: 0.15 + Line Style: Lines + Line Width: 0.04 + Name: Avoidance Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.03 + Shaft Diameter: 0.05 + Shaft Length: 0.10 + Topic: /caim/avoidance_route_octomap + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /caim/avoidance_route_octomap_marker + Name: Colored Route + Namespaces: + caim_avoidance_route_octomap: true + Queue Size: 10 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /occupied_cells_vis_array + Name: OctoMap Occupied Cells + Namespaces: + {} + Queue Size: 10 + Value: true + - Alpha: 0.45 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Name: Registered Cloud + Position Transformer: XYZ + Queue Size: 2 + Selectable: true + Size (Pixels): 2 + Size (m): 0.03 + Style: Points + Topic: /cloud_registered + Unreliable: false + Use Fixed Frame: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: camera_init + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.12734 + Focal Point: + X: 2.1432 + Y: 1.2 + Z: 0.8 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.485202 + Target Frame: + Yaw: 5.25358 + Saved: ~ +Window Geometry: + Height: 850 + Width: 1300 + X: 80 + Y: 60 diff --git a/caim_ws_1.3/src/caim_core/scripts/depth_aligner.py b/caim_ws_1.3/src/caim_core/scripts/depth_aligner.py new file mode 100755 index 0000000..95cc94e --- /dev/null +++ b/caim_ws_1.3/src/caim_core/scripts/depth_aligner.py @@ -0,0 +1,127 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import rospy +import numpy as np +import cv2 +from cv_bridge import CvBridge, CvBridgeError +import message_filters +from sensor_msgs.msg import Image, CameraInfo + +class DepthAligner: + def __init__(self): + rospy.init_node('depth_aligner', anonymous=True) + self.bridge = CvBridge() + + # 相机参数初始化 + self.K_color = None + self.K_depth = None + self.color_camera_info = None + self.depth_camera_info = None + + # 🌟 1. 发布器（保持不变，它假装自己是官方对齐节点发布数据） + self.aligned_pub = rospy.Publisher("/camera/aligned_depth/image_raw", Image, queue_size=1) + self.aligned_info_pub = rospy.Publisher("/camera/aligned_depth/camera_info", CameraInfo, queue_size=1) + + # 订阅相机信息 + rospy.Subscriber("/camera/color/camera_info", CameraInfo, self.color_info_callback) + rospy.Subscriber("/camera/depth/camera_info", CameraInfo, self.depth_info_callback) + + # 🌟 2. 核心修改：真机 D435 的深度图原始话题通常带 rect (已畸变校正) + color_sub = message_filters.Subscriber("/camera/color/image_raw", Image) + depth_sub = message_filters.Subscriber("/camera/depth/image_rect_raw", Image) + + # 时间同步 (真机帧率可能波动，slop 稍微放宽一点) + ts = message_filters.ApproximateTimeSynchronizer( + [color_sub, depth_sub], queue_size=10, slop=0.1) + ts.registerCallback(self.alignment_callback) + + rospy.loginfo("【真机适配版】深度手动对齐节点已启动，后台静默运行中...") + + def color_info_callback(self, msg): + """更新彩色相机内参""" + if self.color_camera_info is None: + rospy.loginfo("成功接收真实彩色相机内参") + self.color_camera_info = msg + self.K_color = np.array(msg.K).reshape(3,3) + + def depth_info_callback(self, msg): + """更新深度相机内参""" + if self.depth_camera_info is None: + rospy.loginfo("成功接收真实深度相机内参") + self.depth_camera_info = msg + self.K_depth = np.array(msg.K).reshape(3,3) + + # 🌟 3. 核心修改：真机 D435 的真实物理外参（深度红外镜头到RGB镜头的距离） + # D435 的设计基线大约是 14.8 毫米 (0.0148m) + self.R = np.eye(3, dtype=np.float32) + self.t = np.array([0.0148, 0, 0], dtype=np.float32) + + def alignment_callback(self, color_msg, depth_msg): + try: + if self.color_camera_info is None or self.depth_camera_info is None: + rospy.logwarn_throttle(2.0, "等待真机参数加载...") + return + + # 转换图像 + color_img = self.bridge.imgmsg_to_cv2(color_msg, "bgr8") + depth_img = self.bridge.imgmsg_to_cv2(depth_msg, "passthrough") + + # 创建对齐深度图 + aligned_depth = np.zeros(color_img.shape[:2], dtype=np.float32) + + # 🌟 4. 真机 D435 最小探测距离通常是 10cm-20cm，这里放宽有效范围 + valid_mask = (depth_img > 100) & (depth_img < 10000) + rows, cols = np.where(valid_mask) + z = depth_img[valid_mask].astype(np.float32) / 1000.0 # 转为米 + + if len(z) == 0: + rospy.logwarn_throttle(2.0, "没有有效的深度数据，请检查 D435 是否被遮挡！") + return + + # 像素坐标转3D坐标 + points_3d = np.dot( + np.linalg.inv(self.K_depth), + np.vstack([cols, rows, np.ones_like(rows)]) + ) * z + + # 坐标系变换 (平移 RGB 镜头偏差) + transformed = np.dot(self.R, points_3d) + self.t.reshape(3,1) + + # 投影回彩色相机画面 + uv = np.dot(self.K_color, transformed / transformed[2:3,:]) + x = uv[0,:].clip(0, color_img.shape[1]-1) + y = uv[1,:].clip(0, color_img.shape[0]-1) + + x_idx = np.round(x).astype(int) + y_idx = np.round(y).astype(int) + + valid = (x_idx >= 0) & (x_idx < color_img.shape[1]) & \ + (y_idx >= 0) & (y_idx < color_img.shape[0]) + + aligned_depth[y_idx[valid], x_idx[valid]] = z[valid] * 1000 # 转回毫米 + + # 真机红外噪点较多，闭运算滤波非常有必要 + kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5,5)) + aligned_depth = cv2.morphologyEx(aligned_depth, cv2.MORPH_CLOSE, kernel) + + # 发布结果 + aligned_msg = self.bridge.cv2_to_imgmsg(aligned_depth.astype(np.uint16), "16UC1") + aligned_msg.header = depth_msg.header + # 强制挂载到 RGB 镜头的 TF 坐标树上 + aligned_msg.header.frame_id = "camera_color_optical_frame" + self.aligned_pub.publish(aligned_msg) + + # 发布相机信息 + self.color_camera_info.header.stamp = depth_msg.header.stamp + self.aligned_info_pub.publish(self.color_camera_info) + + except Exception as e: + rospy.logerr_throttle(2.0, f"深度图处理错误: {str(e)}") + +if __name__ == '__main__': + try: + aligner = DepthAligner() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/caim_ws_1.3/src/caim_core/scripts/ros_python_bootstrap.py b/caim_ws_1.3/src/caim_core/scripts/ros_python_bootstrap.py new file mode 100755 index 0000000..ba6059c --- /dev/null +++ b/caim_ws_1.3/src/caim_core/scripts/ros_python_bootstrap.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""Run a ROS Python node while preserving the selected environment packages.""" + +import os +import runpy +import sys + + +def main(): + if len(sys.argv) < 2: + raise RuntimeError("缺少需要运行的 ROS Python 节点") + + # 必须 append，不能通过 PYTHONPATH 放到前面；否则 Ubuntu 系统 numpy + # 可能覆盖 Conda numpy，造成二进制版本不兼容。 + for path in os.environ.get("CAIM_ROS_PYTHON_PATHS", "").split(":"): + if path and path not in sys.path: + sys.path.append(path) + + target = sys.argv[1] + sys.argv = sys.argv[1:] + runpy.run_path(target, run_name="__main__") + + +if __name__ == "__main__": + main() diff --git a/caim_ws_1.3/src/caim_core/scripts/usb_camera_node.py b/caim_ws_1.3/src/caim_core/scripts/usb_camera_node.py new file mode 100755 index 0000000..9e84eca --- /dev/null +++ b/caim_ws_1.3/src/caim_core/scripts/usb_camera_node.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""Publish frames from a USB/UVC camera without hard-coding /dev paths.""" + +import os + +import cv2 +import rospy +from cv_bridge import CvBridge +from sensor_msgs.msg import Image + + +class UsbCameraNode: + def __init__(self): + rospy.init_node("usb_camera_node") + self.device_index = int(rospy.get_param("~device_index", 0)) + self.device_name = str(rospy.get_param("~device_name", "")).strip() + self.image_topic = rospy.get_param( + "~image_topic", "/usb_camera/image_raw") + self.frame_id = rospy.get_param("~frame_id", "usb_camera") + self.width = int(rospy.get_param("~width", 640)) + self.height = int(rospy.get_param("~height", 480)) + self.fps = float(rospy.get_param("~fps", 30.0)) + self.flip_code = int(rospy.get_param("~flip_code", 2)) + + self.publisher = rospy.Publisher( + self.image_topic, Image, queue_size=1) + self.bridge = CvBridge() + + self.device = self.resolve_device() + self.camera = cv2.VideoCapture(self.device, cv2.CAP_V4L2) + if not self.camera.isOpened(): + self.camera.release() + self.camera = cv2.VideoCapture(self.device) + if not self.camera.isOpened(): + raise RuntimeError( + "无法打开 USB 摄像头 {}".format(self.device)) + + self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.width) + self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height) + self.camera.set(cv2.CAP_PROP_FPS, self.fps) + rospy.on_shutdown(self.shutdown) + rospy.loginfo( + "[USB_CAMERA] device=%s topic=%s requested=%dx%d@%.1f", + self.device, self.image_topic, + self.width, self.height, self.fps) + + def resolve_device(self): + """优先按 /dev/v4l/by-id 的稳定硬件名选设备。""" + if not self.device_name: + return self.device_index + + # 也允许命令行直接传完整路径；仓库和 launch 中不会写死该路径。 + if os.path.isabs(self.device_name): + return self.device_name + + candidates = ( + os.path.join(os.sep, "dev", "v4l", "by-id", self.device_name), + os.path.join(os.sep, "dev", "v4l", "by-path", self.device_name), + os.path.join(os.sep, "dev", self.device_name), + ) + for candidate in candidates: + if os.path.exists(candidate): + return candidate + + raise RuntimeError( + "找不到 USB 摄像头硬件名 '{}'; 请检查 /dev/v4l/by-id/" + .format(self.device_name)) + + def run(self): + rate = rospy.Rate(max(self.fps, 1.0)) + while not rospy.is_shutdown(): + ok, frame = self.camera.read() + if not ok or frame is None: + rospy.logwarn_throttle( + 2.0, "[USB_CAMERA] 读取失败，请检查设备序号和占用情况") + rate.sleep() + continue + + # 2 表示不翻转；OpenCV 的 0/1/-1 分别为垂直/水平/双向翻转。 + if self.flip_code in (-1, 0, 1): + frame = cv2.flip(frame, self.flip_code) + + message = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8") + message.header.stamp = rospy.Time.now() + message.header.frame_id = self.frame_id + self.publisher.publish(message) + rate.sleep() + + def shutdown(self): + if self.camera is not None: + self.camera.release() + + +if __name__ == "__main__": + try: + UsbCameraNode().run() + except rospy.ROSInterruptException: + pass + except Exception as error: + rospy.logfatal("[USB_CAMERA] %s", error) diff --git a/caim_ws_1.3/src/caim_core/scripts/usb_targeting_node.py b/caim_ws_1.3/src/caim_core/scripts/usb_targeting_node.py new file mode 100755 index 0000000..8af40dd --- /dev/null +++ b/caim_ws_1.3/src/caim_core/scripts/usb_targeting_node.py @@ -0,0 +1,229 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""第二次转向后，在飞向投放点过程中判断 A/B 的画面左右关系。""" + +import cv2 +import numpy as np +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +from ultralytics import YOLO + + +class UsbTargetYolo: + def __init__(self): + rospy.init_node("usb_target_check_node") + + self.is_detecting = False + self.start_time = None + self.stable_start_time = None + self.stable_layout = None + self.is_processing = False + + model_path = rospy.get_param("~model_path") + self.conf_thresh = rospy.get_param("~conf_thresh", 0.60) + self.camera_topic = rospy.get_param( + "~camera_topic", "/usb_camera/image_raw") + self.timeout_duration = rospy.get_param("~timeout_duration", 5.0) + self.stable_confirm_duration = rospy.get_param( + "~stable_confirm_duration", 0.5) + self.class_a = str(rospy.get_param("~class_a", "A")).lower() + self.class_b = str(rospy.get_param("~class_b", "B")).lower() + self.min_horizontal_separation_px = int(rospy.get_param( + "~min_horizontal_separation_px", 20)) + self.show_gui = rospy.get_param("~show_gui", True) + self.window_name = rospy.get_param( + "~window_name", "CAIM Distant A/B Layout") + + self.result_pub = rospy.Publisher( + "/caim/target_recognition_result", String, queue_size=10) + rospy.Subscriber( + "/caim/target_recognition_cmd", String, self.cmd_callback, + queue_size=1) + + rospy.loginfo( + "[USB_TARGET] Loading YOLO model: %s (confidence %.2f)", + model_path, self.conf_thresh) + self.model = YOLO(model_path) + rospy.loginfo( + "[USB_TARGET] Ready for distant A/B layout recognition. " + "classes=(%s,%s)", self.class_a, self.class_b) + + self.image_sub = rospy.Subscriber( + self.camera_topic, Image, self.image_callback, + queue_size=1, buff_size=2 ** 24) + + def reset_tracking(self): + self.stable_start_time = None + self.stable_layout = None + + def cmd_callback(self, msg): + command = msg.data.strip().upper() + if command == "STOP": + self.is_detecting = False + self.reset_tracking() + rospy.loginfo("[USB_TARGET] Recognition stopped; entering standby.") + return + + if command == "START_AB_LAYOUT": + self.is_detecting = True + self.start_time = rospy.Time.now() + self.reset_tracking() + rospy.loginfo( + "[USB_TARGET] Starting distant A/B layout recognition; " + "stable time %.1fs, timeout %.1fs.", + self.stable_confirm_duration, self.timeout_duration) + + def best_ab_detections(self, result): + """返回本帧中置信度最高的 A、B 框及其横向中心。""" + detections = {} + for box in result.boxes: + class_id = int(box.cls[0]) + class_name = str(self.model.names[class_id]).lower() + if class_name not in (self.class_a, self.class_b): + continue + + confidence = float(box.conf[0]) + if class_name in detections and \ + confidence <= detections[class_name]["confidence"]: + continue + + x1, y1, x2, y2 = [float(value) for value in box.xyxy[0]] + detections[class_name] = { + "confidence": confidence, + "center_x": (x1 + x2) * 0.5, + "box": (int(x1), int(y1), int(x2), int(y2)), + } + return detections + + def publish_result(self, result): + self.result_pub.publish(result) + self.is_detecting = False + self.reset_tracking() + + def draw_detection(self, image, label, detection, color): + x1, y1, x2, y2 = detection["box"] + cv2.rectangle(image, (x1, y1), (x2, y2), color, 2) + cv2.putText( + image, + "{} {:.2f}".format(label, detection["confidence"]), + (x1, max(24, y1 - 8)), cv2.FONT_HERSHEY_SIMPLEX, + 0.7, color, 2) + + def process_frame(self, cv_image): + display = cv_image.copy() + if not self.is_detecting: + cv2.putText( + display, "Standby - waiting for START_AB_LAYOUT", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2) + self.show(display) + return + + if self.is_processing: + return + self.is_processing = True + + try: + now = rospy.Time.now() + result = self.model( + cv_image, verbose=False, conf=self.conf_thresh)[0] + detections = self.best_ab_detections(result) + a_detection = detections.get(self.class_a) + b_detection = detections.get(self.class_b) + + if a_detection: + self.draw_detection(display, "A", a_detection, (0, 255, 0)) + if b_detection: + self.draw_detection(display, "B", b_detection, (255, 128, 0)) + + layout = None + if a_detection and b_detection: + separation = abs( + a_detection["center_x"] - b_detection["center_x"]) + if separation >= self.min_horizontal_separation_px: + layout = ( + "A_LEFT" if a_detection["center_x"] < + b_detection["center_x"] else "A_RIGHT") + + if layout is not None: + if layout != self.stable_layout: + self.stable_layout = layout + self.stable_start_time = now + + stable_elapsed = ( + now - self.stable_start_time).to_sec() + cv2.putText( + display, + "{} {:.1f}/{:.1f}s".format( + layout, stable_elapsed, + self.stable_confirm_duration), + (20, 40), cv2.FONT_HERSHEY_SIMPLEX, + 0.8, (0, 255, 255), 2) + + if stable_elapsed >= self.stable_confirm_duration: + rospy.loginfo( + "[USB_TARGET] Stable distant layout confirmed: %s", layout) + self.publish_result(layout) + else: + self.reset_tracking() + cv2.putText( + display, "Searching for both A and B...", (20, 40), + cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 165, 255), 2) + + if self.is_detecting and self.start_time is not None and \ + (now - self.start_time).to_sec() > self.timeout_duration: + rospy.logwarn( + "[USB_TARGET] A/B layout recognition timed out; requesting retry.") + self.publish_result("UNKNOWN") + + self.show(display) + except Exception as error: + rospy.logerr_throttle(1.0, "[USB_TARGET] YOLO error: %s", error) + finally: + self.is_processing = False + + def show(self, image): + if self.show_gui: + cv2.imshow(self.window_name, image) + cv2.waitKey(1) + + def image_callback(self, msg): + try: + channels = 4 if msg.encoding in ("bgra8", "rgba8") else 3 + row_bytes = msg.width * channels + raw_rows = np.frombuffer(msg.data, dtype=np.uint8).reshape( + msg.height, msg.step) + frame = raw_rows[:, :row_bytes].reshape( + msg.height, msg.width, channels) + + if msg.encoding == "rgb8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) + elif msg.encoding == "rgba8": + frame = cv2.cvtColor(frame, cv2.COLOR_RGBA2BGR) + elif msg.encoding == "bgra8": + frame = cv2.cvtColor(frame, cv2.COLOR_BGRA2BGR) + elif msg.encoding != "bgr8": + rospy.logwarn_throttle( + 2.0, "[USB_TARGET] Unsupported image encoding: %s", msg.encoding) + return + + self.process_frame(frame) + except Exception as error: + rospy.logerr_throttle(1.0, "[USB_TARGET] Image decode error: %s", error) + + def clean_up(self): + if self.show_gui: + cv2.destroyAllWindows() + + +if __name__ == "__main__": + node = None + try: + node = UsbTargetYolo() + rospy.spin() + except rospy.ROSInterruptException: + pass + finally: + if node is not None: + node.clean_up() diff --git a/caim_ws_1.3/src/caim_core/scripts/yolo_python.sh b/caim_ws_1.3/src/caim_core/scripts/yolo_python.sh new file mode 100755 index 0000000..c3c2b98 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/scripts/yolo_python.sh @@ -0,0 +1,173 @@ +#!/usr/bin/env bash +set -euo pipefail + +SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +BOOTSTRAP="${SCRIPT_DIR}/ros_python_bootstrap.py" + +if [[ ! -f "${BOOTSTRAP}" ]]; then + echo "找不到 ROS Python 兼容启动文件：${BOOTSTRAP}" >&2 + exit 1 +fi + +# 收集当前 ROS 工作区和系统 ROS 的 Python 模块目录。它们由 bootstrap +# 追加到 Conda 的 sys.path 末尾，避免系统 numpy 覆盖 Conda numpy。 +declare -a ros_paths=() +if [[ -n "${PYTHONPATH:-}" ]]; then + IFS=':' read -r -a inherited_paths <<< "${PYTHONPATH}" + for path in "${inherited_paths[@]}"; do + [[ -n "${path}" ]] && ros_paths+=("${path}") + done +fi + +while IFS= read -r system_python; do + [[ -x "${system_python}" ]] || continue + while IFS= read -r module_path; do + [[ -n "${module_path}" ]] && ros_paths+=("${module_path}") + done < <("${system_python}" - <<'PY' 2>/dev/null || true +import os +import rospy +import rospkg + +paths = [] +for module in (rospy, rospkg): + path = os.path.dirname(os.path.dirname(os.path.realpath(module.__file__))) + if path not in paths: + paths.append(path) +for path in paths: + print(path) +PY +) +done < <(type -a -p python3 2>/dev/null | awk '!seen[$0]++') + +ROS_EXTRA_PATHS="" +declare -A seen_ros_paths=() +for path in "${ros_paths[@]}"; do + [[ -d "${path}" ]] || continue + [[ -n "${seen_ros_paths[${path}]+x}" ]] && continue + seen_ros_paths["${path}"]=1 + if [[ -z "${ROS_EXTRA_PATHS}" ]]; then + ROS_EXTRA_PATHS="${path}" + else + ROS_EXTRA_PATHS="${ROS_EXTRA_PATHS}:${path}" + fi +done + +if [[ "${CAIM_PRELOAD_SYSTEM_LIBFFI:-false}" == "true" ]]; then + export LD_PRELOAD="${CAIM_LD_PRELOAD:-libffi.so.7}" +fi + +check_python() { + local executable="$1" + CAIM_ROS_PYTHON_PATHS="${ROS_EXTRA_PATHS}" \ + "${executable}" -c ' +import os +import sys +import ultralytics +for path in os.environ.get("CAIM_ROS_PYTHON_PATHS", "").split(":"): + if path and path not in sys.path: + sys.path.append(path) +import rospy +from sensor_msgs.msg import Image +from std_msgs.msg import String +' >/dev/null 2>&1 +} + +run_python() { + local executable="$1" + shift + echo "[CAIM_YOLO] Python: ${executable}" >&2 + exec env CAIM_ROS_PYTHON_PATHS="${ROS_EXTRA_PATHS}" \ + "${executable}" "${BOOTSTRAP}" "$@" +} + +# 显式设置时优先使用，并给出真实导入错误。 +if [[ -n "${CAIM_PYTHON_EXECUTABLE:-}" ]]; then + if check_python "${CAIM_PYTHON_EXECUTABLE}"; then + run_python "${CAIM_PYTHON_EXECUTABLE}" "$@" + fi + echo "CAIM_PYTHON_EXECUTABLE 无法同时加载 YOLO 和 ROS：" \ + "${CAIM_PYTHON_EXECUTABLE}" >&2 + CAIM_ROS_PYTHON_PATHS="${ROS_EXTRA_PATHS}" \ + "${CAIM_PYTHON_EXECUTABLE}" -c ' +import os +import sys +import ultralytics +for path in os.environ.get("CAIM_ROS_PYTHON_PATHS", "").split(":"): + if path and path not in sys.path: + sys.path.append(path) +import rospy +' >&2 || true + exit 1 +fi + +declare -a candidates=() +current_python="$(command -v python3 2>/dev/null || true)" +[[ -n "${current_python}" ]] && candidates+=("${current_python}") + +# conda 不一定经过 shell 初始化，因此同时检查 CONDA_EXE、PATH 和 HOME 下 +# 的常用安装位置；没有写死用户名或某台设备的目录。 +conda_executable="" +if [[ -n "${CONDA_EXE:-}" && -x "${CONDA_EXE}" ]]; then + conda_executable="${CONDA_EXE}" +elif command -v conda >/dev/null 2>&1; then + conda_executable="$(command -v conda)" +else + for candidate in \ + "${HOME}/anaconda3/bin/conda" \ + "${HOME}/miniconda3/bin/conda" \ + "${HOME}/mambaforge/bin/conda" \ + "${HOME}/miniforge3/bin/conda"; do + if [[ -x "${candidate}" ]]; then + conda_executable="${candidate}" + break + fi + done +fi + +if [[ -n "${conda_executable}" ]]; then + preferred_env="${CAIM_CONDA_ENV:-yolo11}" + preferred_python="$(${conda_executable} run -n "${preferred_env}" \ + python3 -c 'import sys; print(sys.executable)' 2>/dev/null || true)" + [[ -x "${preferred_python}" ]] && candidates+=("${preferred_python}") + + while IFS= read -r env_path; do + [[ -x "${env_path}/bin/python3" ]] && \ + candidates+=("${env_path}/bin/python3") + [[ ! -x "${env_path}/bin/python3" && -x "${env_path}/bin/python" ]] && \ + candidates+=("${env_path}/bin/python") + done < <("${conda_executable}" env list 2>/dev/null | \ + awk '$1 !~ /^#/ && $NF ~ /^\// {print $NF}') +fi + +# 即使 conda 命令不在 PATH，也扫描用户目录下常见的环境位置。 +for candidate in \ + "${HOME}"/anaconda3/envs/*/bin/python3 \ + "${HOME}"/miniconda3/envs/*/bin/python3 \ + "${HOME}"/mambaforge/envs/*/bin/python3 \ + "${HOME}"/miniforge3/envs/*/bin/python3 \ + "${HOME}"/.conda/envs/*/bin/python3; do + [[ -x "${candidate}" ]] && candidates+=("${candidate}") +done + +declare -A seen_candidates=() +declare -a tested_candidates=() +for candidate in "${candidates[@]}"; do + [[ -x "${candidate}" ]] || continue + resolved="$(readlink -f "${candidate}")" + [[ -n "${seen_candidates[${resolved}]+x}" ]] && continue + seen_candidates["${resolved}"]=1 + tested_candidates+=("${resolved}") + if check_python "${resolved}"; then + run_python "${resolved}" "$@" + fi +done + +echo "找不到能同时加载 ultralytics 和 rospy 的 Python 环境。" >&2 +if [[ ${#tested_candidates[@]} -gt 0 ]]; then + echo "已经检查：" >&2 + printf ' %s\n' "${tested_candidates[@]}" >&2 +fi +echo "请确认目标环境安装了 ultralytics，或设置：" >&2 +echo " CAIM_CONDA_ENV=<环境名> roslaunch ..." >&2 +echo " CAIM_PYTHON_EXECUTABLE=<环境中的python3> roslaunch ..." >&2 +exit 1 diff --git a/caim_ws_1.3/src/caim_core/src/d435_color_view_node.cpp b/caim_ws_1.3/src/caim_core/src/d435_color_view_node.cpp new file mode 100644 index 0000000..0eceb04 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/src/d435_color_view_node.cpp @@ -0,0 +1,131 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class D435ColorView { +private: + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + image_transport::ImageTransport it_; + + image_transport::Subscriber image_sub_; + image_transport::Publisher debug_pub_; + ros::Subscriber camera_info_sub_; + + std::string image_topic_; + std::string camera_info_topic_; + std::string window_name_; + bool show_gui_; + bool have_camera_info_; + int frame_count_; + ros::Time last_stat_time_; + +public: + D435ColorView() + : pnh_("~"), + it_(nh_), + show_gui_(true), + have_camera_info_(false), + frame_count_(0) { + pnh_.param( + "image_topic", image_topic_, "/usb_camera/image_raw"); + pnh_.param( + "camera_info_topic", camera_info_topic_, + "/usb_camera/camera_info"); + pnh_.param( + "window_name", window_name_, "D435 Color View"); + pnh_.param("show_gui", show_gui_, true); + + image_sub_ = it_.subscribe( + image_topic_, 1, &D435ColorView::imageCallback, this); + debug_pub_ = it_.advertise("/caim/d435/debug_image", 1); + camera_info_sub_ = nh_.subscribe( + camera_info_topic_, 1, + &D435ColorView::cameraInfoCallback, this); + + if (show_gui_) { + cv::namedWindow(window_name_, cv::WINDOW_NORMAL); + cv::resizeWindow(window_name_, 960, 720); + } + + ROS_INFO("[D435_VIEW] Ready. image=%s camera_info=%s", + image_topic_.c_str(), camera_info_topic_.c_str()); + } + + ~D435ColorView() { + if (show_gui_) { + cv::destroyWindow(window_name_); + } + } + +private: + void cameraInfoCallback(const sensor_msgs::CameraInfoConstPtr& msg) { + if (!have_camera_info_) { + ROS_INFO("[D435_VIEW] CameraInfo received: %ux%u fx=%.2f fy=%.2f cx=%.2f cy=%.2f", + msg->width, msg->height, + msg->K[0], msg->K[4], msg->K[2], msg->K[5]); + } + have_camera_info_ = true; + } + + void imageCallback(const sensor_msgs::ImageConstPtr& msg) { + cv_bridge::CvImagePtr cv_ptr; + try { + cv_ptr = cv_bridge::toCvCopy( + msg, sensor_msgs::image_encodings::BGR8); + } catch (const cv_bridge::Exception& error) { + ROS_ERROR_THROTTLE( + 1.0, "[D435_VIEW] cv_bridge exception: %s", error.what()); + return; + } + + cv::Mat display = cv_ptr->image.clone(); + ++frame_count_; + + const ros::Time now = ros::Time::now(); + if (last_stat_time_.isZero() || + now - last_stat_time_ > ros::Duration(2.0)) { + cv::Scalar mean_value = cv::mean(display); + double min_value = 0.0; + double max_value = 0.0; + cv::minMaxLoc(display.reshape(1), &min_value, &max_value); + ROS_INFO("[D435_VIEW] frame #%d topic=%s encoding=%s size=%ux%u min=%.0f max=%.0f mean=%.1f", + frame_count_, image_topic_.c_str(), + msg->encoding.c_str(), msg->width, msg->height, + min_value, max_value, + (mean_value[0] + mean_value[1] + mean_value[2]) / 3.0); + last_stat_time_ = now; + } + + cv::putText( + display, + have_camera_info_ ? "D435 COLOR LIVE" : + "D435 COLOR LIVE - waiting camera_info", + cv::Point(20, 40), cv::FONT_HERSHEY_SIMPLEX, + 0.8, cv::Scalar(0, 255, 255), 2); + + debug_pub_.publish( + cv_bridge::CvImage( + msg->header, + sensor_msgs::image_encodings::BGR8, + display).toImageMsg()); + + if (show_gui_) { + cv::imshow(window_name_, display); + cv::waitKey(1); + } + } +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "d435_color_view_node"); + D435ColorView viewer; + ros::spin(); + return 0; +} diff --git a/caim_ws_1.3/src/caim_core/src/downward_visual_detector_node.cpp b/caim_ws_1.3/src/caim_core/src/downward_visual_detector_node.cpp new file mode 100644 index 0000000..7f05761 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/src/downward_visual_detector_node.cpp @@ -0,0 +1,1032 @@ +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#if defined(__has_include) +# if __has_include() +# include +# define DOWNWARD_HAS_FREETYPE 1 +# endif +#endif + +#ifndef DOWNWARD_HAS_FREETYPE +# define DOWNWARD_HAS_FREETYPE 0 +#endif + +#include +#include +#include +#include +#include +#include + +class DownwardVisualDetector { +private: + struct CircleCandidate { + cv::Vec3f circle; + double score; + + CircleCandidate() + : circle(0.0f, 0.0f, 0.0f), + score(-std::numeric_limits::infinity()) {} + + CircleCandidate(const cv::Vec3f& input_circle, double input_score) + : circle(input_circle), score(input_score) {} + }; + + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + image_transport::ImageTransport it_; + + image_transport::Subscriber image_sub_; + image_transport::Publisher image_pub_; + ros::Subscriber trigger_sub_; + ros::Subscriber drop_complete_sub_; + ros::Publisher target_pub_; + ros::Publisher done_pub_; + + // 以下状态机变量与原代码保持一致 + bool detection_active_; + bool show_gui_; + bool hold_target_overlay_; + bool have_persistent_target_; + cv::Vec3f persistent_circle_; + int stable_count_; + int missed_frame_count_; + + std::string image_topic_; + std::string window_name_; + + // 原有霍夫参数保留，并作为轮廓检测失败时的备用检测参数 + double dp_; + double min_dist_; + double param1_; + double param2_; + int min_radius_; + int max_radius_; + + int center_tolerance_px_; + int required_stable_frames_; + int median_blur_size_; + int max_missed_frames_; + int target_box_padding_px_; + double circle_smoothing_alpha_; + + // 仅用于优化黑色目标识别的参数 + int black_v_max_; + int morphology_kernel_size_; + int close_iterations_; + int open_iterations_; + double min_contour_area_; + double min_contour_circularity_; + double min_ellipse_aspect_ratio_; + double min_black_band_ratio_; + double contour_score_weight_; + double black_ratio_score_weight_; + bool show_mask_debug_; + + std::string font_path_; + +#if DOWNWARD_HAS_FREETYPE + cv::Ptr freetype_; +#endif + bool chinese_font_ready_; + +public: + DownwardVisualDetector() + : pnh_("~"), + it_(nh_), + detection_active_(false), + show_gui_(true), + hold_target_overlay_(false), + have_persistent_target_(false), + persistent_circle_(0.0f, 0.0f, 0.0f), + stable_count_(0), + missed_frame_count_(0), + chinese_font_ready_(false) { + pnh_.param( + "image_topic", image_topic_, + "/usb_camera/image_raw"); + + // 与原代码兼容的参数 + pnh_.param("dp", dp_, 1.2); + pnh_.param("min_dist", min_dist_, 100.0); + pnh_.param("param1", param1_, 70.0); + pnh_.param("param2", param2_, 16.0); + pnh_.param("min_radius", min_radius_, 30); + pnh_.param("max_radius", max_radius_, 350); + pnh_.param("center_tolerance_px", center_tolerance_px_, 70); + pnh_.param("required_stable_frames", required_stable_frames_, 6); + pnh_.param("median_blur_size", median_blur_size_, 5); + pnh_.param("max_missed_frames", max_missed_frames_, 5); + pnh_.param("target_box_padding_px", target_box_padding_px_, 10); + pnh_.param("circle_smoothing_alpha", circle_smoothing_alpha_, 0.35); + pnh_.param("show_gui", show_gui_, true); + pnh_.param( + "window_name", window_name_, + "CAIM Downward Ground Target Detection"); + + // 黑色目标识别参数 + pnh_.param("black_v_max", black_v_max_, 110); + pnh_.param("morphology_kernel_size", morphology_kernel_size_, 5); + pnh_.param("close_iterations", close_iterations_, 2); + pnh_.param("open_iterations", open_iterations_, 1); + pnh_.param("min_contour_area", min_contour_area_, 800.0); + pnh_.param( + "min_contour_circularity", + min_contour_circularity_, 0.42); + pnh_.param( + "min_ellipse_aspect_ratio", + min_ellipse_aspect_ratio_, 0.52); + pnh_.param( + "min_black_band_ratio", + min_black_band_ratio_, 0.18); + pnh_.param( + "contour_score_weight", + contour_score_weight_, 180.0); + pnh_.param( + "black_ratio_score_weight", + black_ratio_score_weight_, 300.0); + pnh_.param("show_mask_debug", show_mask_debug_, true); + pnh_.param("font_path", font_path_, ""); + + sanitizeParameters(); + initializeChineseFont(); + + // 以下订阅、发布话题与原代码保持一致 + image_sub_ = it_.subscribe( + image_topic_, 1, + &DownwardVisualDetector::imageCallback, this); + + image_pub_ = it_.advertise( + "/caim/downward/debug_image", 1); + + trigger_sub_ = nh_.subscribe( + "/caim/trigger_downward_detection", 1, + &DownwardVisualDetector::triggerCallback, this); + + drop_complete_sub_ = nh_.subscribe( + "/caim/drop_complete", 1, + &DownwardVisualDetector::dropCompleteCallback, this); + + target_pub_ = nh_.advertise( + "/caim/downward/target", 1); + + done_pub_ = nh_.advertise( + "/caim/downward_detection_done", 1); + + if (show_gui_) { + cv::namedWindow(window_name_, cv::WINDOW_NORMAL); + cv::resizeWindow(window_name_, 960, 720); + + if (show_mask_debug_) { + cv::namedWindow("Black Mask", cv::WINDOW_NORMAL); + cv::namedWindow( + "Processed Black Mask", cv::WINDOW_NORMAL); + } + } + + ROS_INFO( + "[DOWNWARD] Ready. Image topic: %s", + image_topic_.c_str()); + + ROS_INFO( + "[DOWNWARD] Black target mode: V <= %d, no requirement " + "on the color inside the target.", + black_v_max_); + } + + ~DownwardVisualDetector() { + if (show_gui_) { + cv::destroyAllWindows(); + } + } + +private: + void sanitizeParameters() { + if (median_blur_size_ < 3) { + median_blur_size_ = 3; + } + if (median_blur_size_ % 2 == 0) { + ++median_blur_size_; + } + + if (morphology_kernel_size_ < 1) { + morphology_kernel_size_ = 1; + } + if (morphology_kernel_size_ % 2 == 0) { + ++morphology_kernel_size_; + } + + black_v_max_ = std::max(0, std::min(255, black_v_max_)); + close_iterations_ = std::max(0, close_iterations_); + open_iterations_ = std::max(0, open_iterations_); + min_radius_ = std::max(1, min_radius_); + max_radius_ = std::max(min_radius_ + 1, max_radius_); + required_stable_frames_ = std::max(1, required_stable_frames_); + max_missed_frames_ = std::max(0, max_missed_frames_); + target_box_padding_px_ = std::max(0, target_box_padding_px_); + + circle_smoothing_alpha_ = + std::max(0.05, std::min(1.0, circle_smoothing_alpha_)); + + min_contour_circularity_ = + std::max(0.0, std::min(1.0, min_contour_circularity_)); + + min_ellipse_aspect_ratio_ = + std::max(0.1, std::min(1.0, min_ellipse_aspect_ratio_)); + + min_black_band_ratio_ = + std::max(0.0, std::min(1.0, min_black_band_ratio_)); + } + + bool fileExists(const std::string& path) const { + if (path.empty()) { + return false; + } + + std::ifstream file(path.c_str(), std::ios::binary); + return file.good(); + } + + void initializeChineseFont() { +#if DOWNWARD_HAS_FREETYPE + std::vector candidates; + + if (!font_path_.empty()) { + candidates.push_back(font_path_); + } + + for (std::size_t i = 0; i < candidates.size(); ++i) { + if (!fileExists(candidates[i])) { + continue; + } + + try { + freetype_ = cv::freetype::createFreeType2(); + freetype_->loadFontData(candidates[i], 0); + chinese_font_ready_ = true; + font_path_ = candidates[i]; + + ROS_INFO( + "[DOWNWARD] Chinese label font: %s", + font_path_.c_str()); + return; + } catch (const cv::Exception& error) { + ROS_WARN( + "[DOWNWARD] Failed to load font %s: %s", + candidates[i].c_str(), error.what()); + } + } + + ROS_WARN( + "[DOWNWARD] font_path is empty or unusable. " + "The overlay label will fall back to TARGET."); +#else + ROS_WARN( + "[DOWNWARD] OpenCV freetype module is unavailable. " + "The overlay label will fall back to TARGET."); +#endif + } + + // 原状态机触发逻辑保持不变 + void triggerCallback(const std_msgs::EmptyConstPtr&) { + detection_active_ = true; + hold_target_overlay_ = false; + have_persistent_target_ = false; + stable_count_ = 0; + missed_frame_count_ = 0; + + ROS_INFO("[DOWNWARD] Detection task activated."); + } + + // 原投放完成清除逻辑保持不变 + void dropCompleteCallback(const std_msgs::EmptyConstPtr&) { + detection_active_ = false; + hold_target_overlay_ = false; + have_persistent_target_ = false; + stable_count_ = 0; + missed_frame_count_ = 0; + + ROS_INFO( + "[DOWNWARD] Drop complete. " + "Clearing held ground-target overlay."); + } + + void drawChineseOrFallbackText( + cv::Mat& image, + const std::string& chinese_text, + const std::string& fallback_text, + const cv::Point& origin, + const cv::Scalar& color) const { +#if DOWNWARD_HAS_FREETYPE + if (chinese_font_ready_ && freetype_) { + freetype_->putText( + image, + chinese_text, + origin, + 28, + color, + 2, + cv::LINE_AA, + true); + return; + } +#endif + + cv::putText( + image, + fallback_text, + origin, + cv::FONT_HERSHEY_SIMPLEX, + 0.78, + color, + 2, + cv::LINE_AA); + } + + /* + * 只负责显示： + * 1. 在识别到的黑色目标外侧画绿色圆； + * 2. 标注“打击靶”； + * 不再检查或依赖圆内部必须是白色。 + */ + void drawTargetOverlay( + cv::Mat& display, + const cv::Vec3f& circle, + const cv::Scalar& color, + int thickness, + bool /*show_label*/ = false, + const std::string& /*status_text*/ = "") const { + const int center_x = + static_cast(std::lround(circle[0])); + const int center_y = + static_cast(std::lround(circle[1])); + + const int detected_radius = + std::max(1, static_cast(std::lround(circle[2]))); + + // 绿色圆画在黑色目标外边 + const int outer_radius = + detected_radius + target_box_padding_px_; + + const cv::Point center(center_x, center_y); + const cv::Scalar shadow(20, 20, 20); + const int line_thickness = std::max(2, thickness); + + cv::circle( + display, + center, + outer_radius, + shadow, + line_thickness + 3, + cv::LINE_AA); + + cv::circle( + display, + center, + outer_radius, + color, + line_thickness, + cv::LINE_AA); + + // 中心点 + cv::circle( + display, + center, + 4, + color, + cv::FILLED, + cv::LINE_AA); + + const int label_x = + std::max(8, center_x - outer_radius); + + const int label_y = + std::max(34, center_y - outer_radius - 10); + + // 标签背景 + const int bg_width = chinese_font_ready_ ? 108 : 120; + const int bg_height = 38; + + const int bg_x = + std::max(0, std::min(label_x, display.cols - bg_width)); + + const int bg_y = + std::max(0, std::min(label_y - 30, display.rows - bg_height)); + + cv::rectangle( + display, + cv::Rect(bg_x, bg_y, bg_width, bg_height), + cv::Scalar(20, 20, 20), + cv::FILLED, + cv::LINE_AA); + + drawChineseOrFallbackText( + display, + "打击靶", + "TARGET", + cv::Point(bg_x + 7, bg_y + 29), + color); + } + + cv::Vec3f smoothCircle(const cv::Vec3f& detected_circle) { + if (!have_persistent_target_) { + return detected_circle; + } + + return cv::Vec3f( + static_cast( + circle_smoothing_alpha_ * detected_circle[0] + + (1.0 - circle_smoothing_alpha_) * + persistent_circle_[0]), + static_cast( + circle_smoothing_alpha_ * detected_circle[1] + + (1.0 - circle_smoothing_alpha_) * + persistent_circle_[1]), + static_cast( + circle_smoothing_alpha_ * detected_circle[2] + + (1.0 - circle_smoothing_alpha_) * + persistent_circle_[2])); + } + + void buildBlackMask( + const cv::Mat& bgr, + cv::Mat& raw_black_mask, + cv::Mat& processed_black_mask) const { + cv::Mat hsv; + cv::cvtColor(bgr, hsv, cv::COLOR_BGR2HSV); + + /* + * 只按亮度 V 提取黑色： + * H 不限制，S 不限制，V 必须较低。 + * 因而不会要求圆内部是白色。 + */ + cv::inRange( + hsv, + cv::Scalar(0, 0, 0), + cv::Scalar(179, 255, black_v_max_), + raw_black_mask); + + processed_black_mask = raw_black_mask.clone(); + + const cv::Mat kernel = cv::getStructuringElement( + cv::MORPH_ELLIPSE, + cv::Size( + morphology_kernel_size_, + morphology_kernel_size_)); + + if (close_iterations_ > 0) { + cv::morphologyEx( + processed_black_mask, + processed_black_mask, + cv::MORPH_CLOSE, + kernel, + cv::Point(-1, -1), + close_iterations_); + } + + if (open_iterations_ > 0) { + cv::morphologyEx( + processed_black_mask, + processed_black_mask, + cv::MORPH_OPEN, + kernel, + cv::Point(-1, -1), + open_iterations_); + } + + cv::medianBlur( + processed_black_mask, + processed_black_mask, + median_blur_size_); + } + + double calculateCircularity( + const std::vector& contour) const { + const double area = std::fabs(cv::contourArea(contour)); + const double perimeter = + cv::arcLength(contour, true); + + if (area <= 0.0 || perimeter <= 1e-6) { + return 0.0; + } + + return 4.0 * CV_PI * area / + (perimeter * perimeter); + } + + /* + * 只验证“候选外圈附近是否有足够多的黑色像素”。 + * 不验证中心颜色，不要求中心为白色，也不比较内外深度。 + */ + double calculateEllipticalBlackBandRatio( + const cv::Mat& black_mask, + const cv::RotatedRect& ellipse) const { + const double major = + std::max(ellipse.size.width, ellipse.size.height); + const double minor = + std::min(ellipse.size.width, ellipse.size.height); + + if (major < 2.0 || minor < 2.0) { + return 0.0; + } + + cv::Mat outer_mask = cv::Mat::zeros( + black_mask.size(), CV_8UC1); + + cv::Mat inner_mask = cv::Mat::zeros( + black_mask.size(), CV_8UC1); + + const cv::Size outer_axes( + std::max(1, static_cast( + std::lround(major * 0.52))), + std::max(1, static_cast( + std::lround(minor * 0.52)))); + + /* + * 内椭圆只用于构造一条较宽的检测带。 + * 它不是在判断内部必须是什么颜色。 + */ + const cv::Size inner_axes( + std::max(1, static_cast( + std::lround(major * 0.28))), + std::max(1, static_cast( + std::lround(minor * 0.28)))); + + cv::ellipse( + outer_mask, + ellipse.center, + outer_axes, + ellipse.angle, + 0.0, + 360.0, + cv::Scalar(255), + cv::FILLED, + cv::LINE_8); + + cv::ellipse( + inner_mask, + ellipse.center, + inner_axes, + ellipse.angle, + 0.0, + 360.0, + cv::Scalar(255), + cv::FILLED, + cv::LINE_8); + + cv::Mat band_mask; + cv::subtract(outer_mask, inner_mask, band_mask); + + const int band_pixels = + cv::countNonZero(band_mask); + + if (band_pixels <= 0) { + return 0.0; + } + + cv::Mat black_in_band; + cv::bitwise_and( + black_mask, + band_mask, + black_in_band); + + return static_cast( + cv::countNonZero(black_in_band)) / + static_cast(band_pixels); + } + + double calculateCircularBlackBandRatio( + const cv::Mat& black_mask, + const cv::Vec3f& circle) const { + const cv::Point center( + static_cast(std::lround(circle[0])), + static_cast(std::lround(circle[1]))); + + const int radius = + std::max(1, static_cast( + std::lround(circle[2]))); + + cv::Mat outer_mask = cv::Mat::zeros( + black_mask.size(), CV_8UC1); + + cv::Mat inner_mask = cv::Mat::zeros( + black_mask.size(), CV_8UC1); + + cv::circle( + outer_mask, + center, + std::max(1, static_cast( + std::lround(radius * 1.05))), + cv::Scalar(255), + cv::FILLED, + cv::LINE_8); + + cv::circle( + inner_mask, + center, + std::max(1, static_cast( + std::lround(radius * 0.55))), + cv::Scalar(255), + cv::FILLED, + cv::LINE_8); + + cv::Mat band_mask; + cv::subtract(outer_mask, inner_mask, band_mask); + + const int band_pixels = + cv::countNonZero(band_mask); + + if (band_pixels <= 0) { + return 0.0; + } + + cv::Mat black_in_band; + cv::bitwise_and( + black_mask, + band_mask, + black_in_band); + + return static_cast( + cv::countNonZero(black_in_band)) / + static_cast(band_pixels); + } + + CircleCandidate findBestContourCandidate( + const cv::Mat& black_mask) const { + CircleCandidate best; + + cv::Mat contour_input = black_mask.clone(); + std::vector > contours; + + cv::findContours( + contour_input, + contours, + cv::RETR_EXTERNAL, + cv::CHAIN_APPROX_SIMPLE); + + for (std::size_t i = 0; i < contours.size(); ++i) { + const double area = + std::fabs(cv::contourArea(contours[i])); + + if (area < min_contour_area_) { + continue; + } + + const double circularity = + calculateCircularity(contours[i]); + + if (circularity < min_contour_circularity_) { + continue; + } + + cv::RotatedRect ellipse; + + if (contours[i].size() >= 5) { + ellipse = cv::fitEllipse(contours[i]); + } else { + ellipse = cv::minAreaRect(contours[i]); + } + + const double major = + std::max( + static_cast(ellipse.size.width), + static_cast(ellipse.size.height)); + + const double minor = + std::min( + static_cast(ellipse.size.width), + static_cast(ellipse.size.height)); + + if (major <= 1.0 || minor <= 1.0) { + continue; + } + + const double aspect_ratio = minor / major; + + if (aspect_ratio < min_ellipse_aspect_ratio_) { + continue; + } + + const double radius = major * 0.5; + + if (radius < min_radius_ || radius > max_radius_) { + continue; + } + + const double black_band_ratio = + calculateEllipticalBlackBandRatio( + black_mask, ellipse); + + if (black_band_ratio < min_black_band_ratio_) { + continue; + } + + /* + * 输出圆使用长轴的一半作为半径， + * 从而保证绿色圆画在倾斜目标的最外边。 + */ + const cv::Vec3f candidate_circle( + ellipse.center.x, + ellipse.center.y, + static_cast(radius)); + + const double score = + radius + + contour_score_weight_ * circularity + + black_ratio_score_weight_ * black_band_ratio + + 80.0 * aspect_ratio; + + if (score > best.score) { + best = CircleCandidate( + candidate_circle, score); + } + } + + return best; + } + + CircleCandidate findBestHoughCandidate( + const cv::Mat& black_mask) const { + CircleCandidate best; + + cv::Mat blurred; + cv::GaussianBlur( + black_mask, + blurred, + cv::Size(5, 5), + 1.5, + 1.5); + + std::vector circles; + + cv::HoughCircles( + blurred, + circles, + cv::HOUGH_GRADIENT, + dp_, + min_dist_, + param1_, + param2_, + min_radius_, + max_radius_); + + for (std::size_t i = 0; i < circles.size(); ++i) { + const double black_band_ratio = + calculateCircularBlackBandRatio( + black_mask, circles[i]); + + if (black_band_ratio < min_black_band_ratio_) { + continue; + } + + const double score = + static_cast(circles[i][2]) + + black_ratio_score_weight_ * + black_band_ratio; + + if (score > best.score) { + best = CircleCandidate(circles[i], score); + } + } + + return best; + } + + bool detectBlackTarget( + const cv::Mat& bgr, + cv::Vec3f& best_circle, + cv::Mat& raw_black_mask, + cv::Mat& processed_black_mask) const { + buildBlackMask( + bgr, + raw_black_mask, + processed_black_mask); + + const CircleCandidate contour_candidate = + findBestContourCandidate(processed_black_mask); + + const CircleCandidate hough_candidate = + findBestHoughCandidate(processed_black_mask); + + const CircleCandidate& selected = + (contour_candidate.score >= hough_candidate.score) + ? contour_candidate + : hough_candidate; + + if (!std::isfinite(selected.score) || + selected.circle[2] <= 0.0f) { + return false; + } + + best_circle = selected.circle; + return true; + } + + void publishDisplay( + const sensor_msgs::ImageConstPtr& msg, + const cv::Mat& display) { + image_pub_.publish( + cv_bridge::CvImage( + msg->header, + sensor_msgs::image_encodings::BGR8, + display).toImageMsg()); + + if (show_gui_) { + cv::imshow(window_name_, display); + cv::waitKey(1); + } + } + + void imageCallback( + const sensor_msgs::ImageConstPtr& msg) { + cv_bridge::CvImagePtr cv_ptr; + + try { + cv_ptr = cv_bridge::toCvCopy( + msg, + sensor_msgs::image_encodings::BGR8); + } catch (const cv_bridge::Exception& error) { + ROS_ERROR( + "[DOWNWARD] cv_bridge exception: %s", + error.what()); + return; + } + + cv::Mat display = cv_ptr->image.clone(); + + /* + * 任务未触发时的显示、保持最后一次目标等逻辑， + * 与第一个代码保持一致。 + */ + if (!detection_active_) { + if (hold_target_overlay_ && + have_persistent_target_) { + drawTargetOverlay( + display, + persistent_circle_, + cv::Scalar(0, 255, 0), + 3, + true); + } else { + cv::putText( + display, + "STANDBY - LIVE VIEW", + cv::Point(20, 40), + cv::FONT_HERSHEY_SIMPLEX, + 0.8, + cv::Scalar(0, 255, 255), + 2, + cv::LINE_AA); + } + + publishDisplay(msg, display); + return; + } + + cv::Mat raw_black_mask; + cv::Mat processed_black_mask; + cv::Vec3f detected_circle; + + bool target_found = detectBlackTarget( + cv_ptr->image, + detected_circle, + raw_black_mask, + processed_black_mask); + + if (show_gui_ && show_mask_debug_) { + cv::imshow("Black Mask", raw_black_mask); + cv::imshow( + "Processed Black Mask", + processed_black_mask); + } + + const cv::Point image_center( + display.cols / 2, + display.rows / 2); + + if (target_found) { + detected_circle = + smoothCircle(detected_circle); + + persistent_circle_ = detected_circle; + have_persistent_target_ = true; + missed_frame_count_ = 0; + + const int center_x = + static_cast(std::lround( + detected_circle[0])); + + const int center_y = + static_cast(std::lround( + detected_circle[1])); + + const int radius = + static_cast(std::lround( + detected_circle[2])); + + const int error_x = + center_x - image_center.x; + + const int error_y = + center_y - image_center.y; + + const bool centered = + std::abs(error_x) <= center_tolerance_px_ && + std::abs(error_y) <= center_tolerance_px_; + + // 原目标消息内容保持不变 + geometry_msgs::PointStamped target; + target.header = msg->header; + target.point.x = error_x; + target.point.y = error_y; + target.point.z = radius; + target_pub_.publish(target); + + // 原连续稳定帧判断保持不变 + if (centered) { + ++stable_count_; + } else { + stable_count_ = 0; + } + + const bool stable_enough = + stable_count_ >= required_stable_frames_; + + /* + * 按最新要求： + * 无论是否已经对中，都用绿色圆圈标识黑色目标， + * 标签固定为“打击靶”。 + */ + drawTargetOverlay( + display, + detected_circle, + cv::Scalar(0, 255, 0), + 3, + stable_enough, + ""); + + // 原识别完成与保持逻辑保持不变 + if (stable_enough) { + done_pub_.publish(std_msgs::Empty()); + detection_active_ = false; + hold_target_overlay_ = true; + stable_count_ = 0; + missed_frame_count_ = 0; + + ROS_INFO( + "[DOWNWARD] Black target recognized and centered. " + "Holding overlay until drop complete."); + } + } else { + // 原短暂丢帧保持逻辑保持不变 + if (have_persistent_target_ && + missed_frame_count_ < max_missed_frames_) { + ++missed_frame_count_; + + drawTargetOverlay( + display, + persistent_circle_, + cv::Scalar(0, 255, 0), + 3, + false, + ""); + } else { + stable_count_ = 0; + missed_frame_count_ = 0; + have_persistent_target_ = false; + + cv::putText( + display, + "Searching for black target...", + cv::Point(20, 40), + cv::FONT_HERSHEY_SIMPLEX, + 0.8, + cv::Scalar(0, 165, 255), + 2, + cv::LINE_AA); + } + } + + publishDisplay(msg, display); + } +}; + +int main(int argc, char** argv) { + ros::init( + argc, + argv, + "downward_visual_detector_node"); + + DownwardVisualDetector detector; + ros::spin(); + return 0; +} diff --git a/caim_ws_1.3/src/caim_core/src/pillar_detector_node.cpp b/caim_ws_1.3/src/caim_core/src/pillar_detector_node.cpp new file mode 100644 index 0000000..33fed91 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/src/pillar_detector_node.cpp @@ -0,0 +1,202 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class PillarDetector { +private: + ros::NodeHandle nh_, nh_private_; + ros::Subscriber pc_sub_, trigger_sub_; + ros::Publisher result_pub_, marker_pub_; + + double accumulation_duration_; + int pillar_point_threshold_; + Eigen::Vector4f box1_min_, box1_max_, box2_min_, box2_max_; + Eigen::Vector4f box3_min_, box3_max_, box4_min_, box4_max_; + + bool is_accumulating_; + bool scan_session_active_; + ros::Time start_time_; + pcl::PointCloud::Ptr accumulated_cloud_; + std::string cloud_frame_id_; + int accumulated_frame_count_; + +public: + PillarDetector() : nh_private_("~"), is_accumulating_(false), + scan_session_active_(false), + accumulated_frame_count_(0), + accumulated_cloud_(new pcl::PointCloud()) { + + nh_private_.param("accumulation_duration", accumulation_duration_, 1.0); + nh_private_.param("pillar_point_threshold", pillar_point_threshold_, 50); + + float z_min, z_max, x_min, x_max, y_min, y_max; + nh_private_.param("z_min", z_min, 0.2f); nh_private_.param("z_max", z_max, 1.8f); + + nh_private_.param("box1_x_min", x_min, 2.2f); nh_private_.param("box1_x_max", x_max, 2.6f); + nh_private_.param("box1_y_min", y_min, -1.0f); nh_private_.param("box1_y_max", y_max, -0.6f); + box1_min_ = Eigen::Vector4f(x_min, y_min, z_min, 1.0); box1_max_ = Eigen::Vector4f(x_max, y_max, z_max, 1.0); + + nh_private_.param("box2_x_min", x_min, 1.6f); nh_private_.param("box2_x_max", x_max, 2.0f); + nh_private_.param("box2_y_min", y_min, -1.0f); nh_private_.param("box2_y_max", y_max, -0.6f); + box2_min_ = Eigen::Vector4f(x_min, y_min, z_min, 1.0); box2_max_ = Eigen::Vector4f(x_max, y_max, z_max, 1.0); + + nh_private_.param("box3_x_min", x_min, 2.2f); nh_private_.param("box3_x_max", x_max, 2.6f); + nh_private_.param("box3_y_min", y_min, -2.25f); nh_private_.param("box3_y_max", y_max, -1.85f); + box3_min_ = Eigen::Vector4f(x_min, y_min, z_min, 1.0); box3_max_ = Eigen::Vector4f(x_max, y_max, z_max, 1.0); + + nh_private_.param("box4_x_min", x_min, 1.6f); nh_private_.param("box4_x_max", x_max, 2.0f); + nh_private_.param("box4_y_min", y_min, -2.25f); nh_private_.param("box4_y_max", y_max, -1.85f); + box4_min_ = Eigen::Vector4f(x_min, y_min, z_min, 1.0); box4_max_ = Eigen::Vector4f(x_max, y_max, z_max, 1.0); + + pc_sub_ = nh_.subscribe("/cloud_registered", 1, &PillarDetector::pointCloudCallback, this); + trigger_sub_ = nh_.subscribe("/caim/trigger_detection", 1, &PillarDetector::triggerCallback, this); + result_pub_ = nh_.advertise("/caim/detection_result", 1); + marker_pub_ = nh_.advertise("/caim/pillar_markers", 1); + + ROS_INFO("\033[1;36m[RADAR] Absolute Vision Radar Online. Frames locked.\033[0m"); + } + + void triggerCallback(const std_msgs::EmptyConstPtr& msg) { + if (scan_session_active_) { + ROS_WARN("[RADAR] Trigger ignored: continuous scan is active."); + return; + } + + scan_session_active_ = true; + ROS_INFO("[RADAR] Triggered. Hover and scan continuously until a " + "valid combination is found."); + startNewAccumulation(); + } + + void pointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& msg) { + if (!is_accumulating_) return; + if (cloud_frame_id_.empty()) { + cloud_frame_id_ = msg->header.frame_id; + ROS_INFO("[RADAR] PointCloud frame_id='%s', width=%u, height=%u.", + cloud_frame_id_.c_str(), msg->width, msg->height); + } else if (msg->header.frame_id != cloud_frame_id_) { + ROS_WARN("[RADAR] PointCloud frame changed: '%s' -> '%s'.", + cloud_frame_id_.c_str(), msg->header.frame_id.c_str()); + cloud_frame_id_ = msg->header.frame_id; + } + + pcl::PointCloud current_cloud; + pcl::fromROSMsg(*msg, current_cloud); + *accumulated_cloud_ += current_cloud; + ++accumulated_frame_count_; + + if ((ros::Time::now() - start_time_).toSec() >= accumulation_duration_) { + is_accumulating_ = false; + evaluateAndPublish(); + } + } + + void evaluateAndPublish() { + if (accumulated_cloud_->empty()) { + ROS_WARN("[RADAR] Empty scan. Starting another accumulation."); + startNewAccumulation(); + return; + } + + pcl::CropBox cropFilter; + cropFilter.setInputCloud(accumulated_cloud_); + std::vector idx1, idx2, idx3, idx4; + cropFilter.setMin(box1_min_); cropFilter.setMax(box1_max_); cropFilter.filter(idx1); + cropFilter.setMin(box2_min_); cropFilter.setMax(box2_max_); cropFilter.filter(idx2); + cropFilter.setMin(box3_min_); cropFilter.setMax(box3_max_); cropFilter.filter(idx3); + cropFilter.setMin(box4_min_); cropFilter.setMax(box4_max_); cropFilter.filter(idx4); + + bool h1 = idx1.size() >= pillar_point_threshold_; + bool h2 = idx2.size() >= pillar_point_threshold_; + bool h3 = idx3.size() >= pillar_point_threshold_; + bool h4 = idx4.size() >= pillar_point_threshold_; + publishRVizMarkers(h1, h2, h3, h4); + + pcl::PointXYZ minimum_point; + pcl::PointXYZ maximum_point; + pcl::getMinMax3D(*accumulated_cloud_, minimum_point, maximum_point); + + ROS_INFO("[RADAR] Accumulated %d frames, %lu points, frame='%s'.", + accumulated_frame_count_, accumulated_cloud_->size(), + cloud_frame_id_.c_str()); + ROS_INFO("[RADAR] Cloud range X[%.2f, %.2f] Y[%.2f, %.2f] " + "Z[%.2f, %.2f].", + minimum_point.x, maximum_point.x, + minimum_point.y, maximum_point.y, + minimum_point.z, maximum_point.z); + ROS_INFO("[RADAR] ROI counts: box1=%lu box2=%lu box3=%lu box4=%lu; " + "threshold=%d.", + idx1.size(), idx2.size(), idx3.size(), idx4.size(), + pillar_point_threshold_); + + int combo = 0; + if (h1 && h3) combo = 13; else if (h1 && h4) combo = 14; else if (h2 && h3) combo = 23; else if (h2 && h4) combo = 24; + else if (h1) combo = 10; else if (h2) combo = 20; + + if (combo == 0) { + if (h3 || h4) { + ROS_WARN("[RADAR] A right-column pillar was detected, but no " + "left-column pillar passed the threshold."); + } else { + ROS_WARN("[RADAR] No valid pillar combination. Check ROI " + "coordinates, point-cloud frame and threshold."); + } + } + + const bool valid_combo = + combo == 13 || combo == 14 || combo == 23 || combo == 24; + if (!valid_combo) { + ROS_WARN("[RADAR] Invalid combination [%02d]. Aircraft remains " + "hovering; rescanning automatically.", combo); + startNewAccumulation(); + return; + } + + ROS_INFO("\033[1;32m[RADAR] Valid combination found. " + "Dispatching Code: [%02d]\033[0m", combo); + std_msgs::Int32 res; + res.data = combo; + result_pub_.publish(res); + accumulated_cloud_->clear(); + scan_session_active_ = false; + } + + void publishRVizMarkers(bool h1, bool h2, bool h3, bool h4) { + if (marker_pub_.getNumSubscribers() == 0) return; + visualization_msgs::MarkerArray ma; + auto make = [&](int id, Eigen::Vector4f min_pt, Eigen::Vector4f max_pt, bool det) { + visualization_msgs::Marker m; + m.header.frame_id = + cloud_frame_id_.empty() ? "camera_init" : cloud_frame_id_; + m.header.stamp = ros::Time::now(); + m.ns = "roi"; m.id = id; m.type = visualization_msgs::Marker::CUBE; m.action = visualization_msgs::Marker::ADD; + m.pose.position.x = (min_pt.x() + max_pt.x()) / 2.0; m.pose.position.y = (min_pt.y() + max_pt.y()) / 2.0; m.pose.position.z = (min_pt.z() + max_pt.z()) / 2.0; + m.scale.x = max_pt.x() - min_pt.x(); m.scale.y = max_pt.y() - min_pt.y(); m.scale.z = max_pt.z() - min_pt.z(); + m.color.r = det ? 0 : 1; m.color.g = det ? 1 : 0; m.color.b = 0; m.color.a = det ? 0.8 : 0.3; + return m; + }; + ma.markers.push_back(make(1, box1_min_, box1_max_, h1)); ma.markers.push_back(make(2, box2_min_, box2_max_, h2)); + ma.markers.push_back(make(3, box3_min_, box3_max_, h3)); ma.markers.push_back(make(4, box4_min_, box4_max_, h4)); + marker_pub_.publish(ma); + } + + void startNewAccumulation() { + accumulated_cloud_->clear(); + cloud_frame_id_.clear(); + accumulated_frame_count_ = 0; + start_time_ = ros::Time::now(); + is_accumulating_ = true; + publishRVizMarkers(false, false, false, false); + } +}; + +int main(int argc, char** argv) { ros::init(argc, argv, "pillar_detector_node"); PillarDetector d; ros::spin(); return 0; } diff --git a/caim_ws_1.3/src/caim_core/src/position_node.cpp b/caim_ws_1.3/src/caim_core/src/position_node.cpp new file mode 100644 index 0000000..fc8d9df --- /dev/null +++ b/caim_ws_1.3/src/caim_core/src/position_node.cpp @@ -0,0 +1,751 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +enum TaskType { + TASK_NORMAL = 0, + TASK_AVOID_FORWARD = 1, + TASK_AB_RECOGNITION_HOVER = 2, + TASK_DOWNWARD_DETECT_DROP = 3, + TASK_LASER_STRIKE = 4, + TASK_LAND = 5, + TASK_AVOID_RETURN = 7 +}; + +enum MissionState { + NAVIGATING, + ROTATE_BEFORE_FORWARD_AVOIDANCE, + WAIT_FORWARD_AVOIDANCE, + ROTATE_AFTER_FORWARD_AVOIDANCE, + WAIT_DOWNWARD_DETECTION, + DROP_STABILIZING, + DROP_DESCENDING, + DROP_HOLDING, + DROP_ASCENDING, + WAIT_TARGET_AT_HOVER, + WAIT_TARGET_LAYOUT, + WAIT_TARGET_RETRY, + LASER_HOLD, + WAIT_RETURN_AVOIDANCE, + LANDING +}; + +struct Waypoint { + std::string name; + double x; + double y; + double z; + double yaw; + TaskType task; +}; + +class MasterFSM { +private: + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + + ros::Subscriber state_sub_; + ros::Subscriber pose_sub_; + ros::Subscriber avoidance_done_sub_; + ros::Subscriber downward_done_sub_; + ros::Subscriber target_result_sub_; + + ros::Publisher local_position_pub_; + ros::Publisher trigger_detection_pub_; + ros::Publisher trigger_return_avoidance_pub_; + ros::Publisher trigger_downward_pub_; + ros::Publisher payload_pub_; + ros::Publisher drop_complete_pub_; + ros::Publisher target_command_pub_; + + ros::ServiceClient arming_client_; + ros::ServiceClient set_mode_client_; + + mavros_msgs::State mavros_state_; + geometry_msgs::Pose current_pose_; + geometry_msgs::PoseStamped target_pose_; + std::vector waypoints_; + + int waypoint_index_; + MissionState mission_state_; + bool pose_received_; + double arrival_threshold_; + double arrival_z_tolerance_; + double arrival_stable_time_; + double control_rate_; + double flight_speed_; + double vertical_speed_; + double target_retry_delay_; + double laser_hold_time_; + std::string target_left_waypoint_; + std::string target_right_waypoint_; + std::string laser_command_; + + double stabilize_before_drop_time_; + double drop_descent_; + double drop_linger_time_; + double drop_height_tolerance_; + double drop_height_stable_time_; + double first_turn_angle_; + double second_turn_angle_; + double turn_yaw_tolerance_; + double turn_yaw_stable_time_; + ros::Time state_start_time_; + ros::Time arrival_stable_start_time_; + ros::Time last_motion_update_time_; + ros::Time height_stable_start_time_; + ros::Time yaw_stable_start_time_; + double drop_original_z_; + double rotation_target_yaw_; + int selected_strike_index_; + bool target_recognition_active_; + bool target_retry_pending_; + bool waiting_at_recognition_hover_; + ros::Time target_retry_start_time_; + bool payload_sent_; + bool arrival_is_stable_; + bool height_is_stable_; + bool yaw_is_stable_; + bool have_last_pose_z_; + double last_pose_z_; + double pose_z_jump_warn_threshold_; + +public: + MasterFSM() + : pnh_("~"), + waypoint_index_(0), + mission_state_(NAVIGATING), + pose_received_(false), + arrival_threshold_(0.15), + arrival_z_tolerance_(0.25), + arrival_stable_time_(0.35), + control_rate_(20.0), + flight_speed_(0.45), + vertical_speed_(0.25), + target_retry_delay_(1.0), + laser_hold_time_(1.0), + target_left_waypoint_("Target_Left"), + target_right_waypoint_("Target_Right"), + laser_command_("servo_2"), + stabilize_before_drop_time_(1.0), + drop_descent_(0.10), + drop_linger_time_(1.0), + drop_height_tolerance_(0.04), + drop_height_stable_time_(0.30), + first_turn_angle_(M_PI / 2.0), + second_turn_angle_(110.0 * M_PI / 180.0), + turn_yaw_tolerance_(0.08), + turn_yaw_stable_time_(0.6), + drop_original_z_(0.0), + rotation_target_yaw_(0.0), + selected_strike_index_(-1), + target_recognition_active_(false), + target_retry_pending_(false), + waiting_at_recognition_hover_(false), + payload_sent_(false), + arrival_is_stable_(false), + height_is_stable_(false), + yaw_is_stable_(false), + have_last_pose_z_(false), + last_pose_z_(0.0), + pose_z_jump_warn_threshold_(0.20) { + state_sub_ = nh_.subscribe( + "/mavros/state", 10, &MasterFSM::stateCallback, this); + pose_sub_ = nh_.subscribe( + "/mavros/local_position/pose", 10, + &MasterFSM::poseCallback, this); + avoidance_done_sub_ = nh_.subscribe( + "/caim/arrived_at_drop_zone", 1, + &MasterFSM::avoidanceDoneCallback, this); + downward_done_sub_ = nh_.subscribe( + "/caim/downward_detection_done", 1, + &MasterFSM::downwardDoneCallback, this); + target_result_sub_ = nh_.subscribe( + "/caim/target_recognition_result", 1, + &MasterFSM::targetResultCallback, this); + + local_position_pub_ = nh_.advertise( + "/mavros/setpoint_position/local", 10); + trigger_detection_pub_ = nh_.advertise( + "/caim/trigger_detection", 1); + trigger_return_avoidance_pub_ = nh_.advertise( + "/caim/trigger_return_avoidance", 1); + trigger_downward_pub_ = nh_.advertise( + "/caim/trigger_downward_detection", 1); + payload_pub_ = nh_.advertise( + "/payload_drop_cmd", 1); + drop_complete_pub_ = nh_.advertise( + "/caim/drop_complete", 1); + target_command_pub_ = nh_.advertise( + "/caim/target_recognition_cmd", 1); + + arming_client_ = nh_.serviceClient( + "/mavros/cmd/arming"); + set_mode_client_ = nh_.serviceClient( + "/mavros/set_mode"); + + pnh_.param("arrival_threshold", arrival_threshold_, 0.15); + pnh_.param("arrival_z_tolerance", arrival_z_tolerance_, 0.25); + pnh_.param("arrival_stable_time", arrival_stable_time_, 0.35); + pnh_.param("control_rate", control_rate_, 20.0); + pnh_.param("flight_speed", flight_speed_, 0.45); + pnh_.param("vertical_speed", vertical_speed_, 0.25); + pnh_.param("target_retry_delay", target_retry_delay_, 1.0); + pnh_.param("laser_hold_time", laser_hold_time_, 1.0); + pnh_.param("target_left_waypoint", + target_left_waypoint_, "Target_Left"); + pnh_.param("target_right_waypoint", + target_right_waypoint_, "Target_Right"); + pnh_.param("laser_command", laser_command_, "servo_2"); + pnh_.param("stabilize_before_drop_time", + stabilize_before_drop_time_, 1.0); + pnh_.param("drop_descent", drop_descent_, 0.10); + pnh_.param("drop_linger_time", drop_linger_time_, 1.0); + pnh_.param("drop_height_tolerance", + drop_height_tolerance_, 0.04); + pnh_.param("drop_height_stable_time", + drop_height_stable_time_, 0.30); + pnh_.param("first_turn_angle", first_turn_angle_, M_PI / 2.0); + pnh_.param("second_turn_angle", second_turn_angle_, + 110.0 * M_PI / 180.0); + pnh_.param("turn_yaw_tolerance", turn_yaw_tolerance_, 0.08); + pnh_.param("turn_yaw_stable_time", turn_yaw_stable_time_, 0.6); + pnh_.param("pose_z_jump_warn_threshold", + pose_z_jump_warn_threshold_, 0.20); + arrival_stable_time_ = std::max(0.0, arrival_stable_time_); + control_rate_ = std::max(5.0, control_rate_); + flight_speed_ = std::max(0.05, flight_speed_); + vertical_speed_ = std::max(0.05, vertical_speed_); + target_retry_delay_ = std::max(0.0, target_retry_delay_); + laser_hold_time_ = std::max(0.0, laser_hold_time_); + + loadWaypoints(); + } + + void run() { + ros::Rate rate(control_rate_); + while (ros::ok() && !mavros_state_.connected) { + ROS_INFO_THROTTLE(2.0, "[FSM] Waiting for MAVROS connection..."); + ros::spinOnce(); + rate.sleep(); + } + while (ros::ok() && !pose_received_) { + ROS_INFO_THROTTLE( + 2.0, + "[FSM] Waiting for first /mavros/local_position/pose..."); + ros::spinOnce(); + rate.sleep(); + } + if (!ros::ok()) return; + if (waypoints_.empty()) return; + + target_pose_.pose = current_pose_; + last_motion_update_time_ = ros::Time::now(); + mavros_msgs::SetMode offboard_mode; + offboard_mode.request.custom_mode = "OFFBOARD"; + mavros_msgs::CommandBool arm_command; + arm_command.request.value = true; + ros::Time last_request = ros::Time::now(); + + while (ros::ok()) { + ros::spinOnce(); + const ros::Time now = ros::Time::now(); + + if (mavros_state_.mode != "OFFBOARD" && + mission_state_ != LANDING && + now - last_request > ros::Duration(5.0)) { + if (set_mode_client_.call(offboard_mode) && + offboard_mode.response.mode_sent) { + last_request = now; + } + } else if (!mavros_state_.armed && + mission_state_ != LANDING && + now - last_request > ros::Duration(5.0)) { + if (arming_client_.call(arm_command) && + arm_command.response.success) { + last_request = now; + } + } + + updateMission(now); + + if (mission_state_ != WAIT_FORWARD_AVOIDANCE && + mission_state_ != WAIT_RETURN_AVOIDANCE && + mission_state_ != LANDING) { + target_pose_.header.stamp = now; + target_pose_.header.frame_id = "map"; + local_position_pub_.publish(target_pose_); + } + rate.sleep(); + } + } + +private: + static double xmlNumber(const XmlRpc::XmlRpcValue& value) { + return value.getType() == XmlRpc::XmlRpcValue::TypeInt + ? static_cast(value) + : static_cast(value); + } + + void loadWaypoints() { + XmlRpc::XmlRpcValue list; + if (!pnh_.getParam("waypoints", list) || + list.getType() != XmlRpc::XmlRpcValue::TypeArray) { + ROS_ERROR("[FSM] Missing or invalid waypoint list."); + return; + } + + for (int i = 0; i < list.size(); ++i) { + Waypoint waypoint; + waypoint.name = static_cast(list[i]["name"]); + waypoint.x = xmlNumber(list[i]["x"]); + waypoint.y = xmlNumber(list[i]["y"]); + waypoint.z = xmlNumber(list[i]["z"]); + waypoint.task = + static_cast(static_cast(list[i]["task"])); + waypoint.yaw = list[i].hasMember("yaw") + ? xmlNumber(list[i]["yaw"]) + : std::numeric_limits::quiet_NaN(); + waypoints_.push_back(waypoint); + } + ROS_INFO("[FSM] Loaded %lu waypoints.", waypoints_.size()); + } + + void stateCallback(const mavros_msgs::State::ConstPtr& msg) { + mavros_state_ = *msg; + } + + void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg) { + const double new_z = msg->pose.position.z; + if (have_last_pose_z_ && + std::fabs(new_z - last_pose_z_) > pose_z_jump_warn_threshold_) { + ROS_WARN_THROTTLE( + 1.0, + "[FSM] local_position z jump: %.3f -> %.3f (dz=%.3f).", + last_pose_z_, new_z, new_z - last_pose_z_); + } + last_pose_z_ = new_z; + have_last_pose_z_ = true; + current_pose_ = msg->pose; + pose_received_ = true; + } + + void avoidanceDoneCallback(const std_msgs::Empty::ConstPtr&) { + if (mission_state_ == WAIT_FORWARD_AVOIDANCE) { + ++waypoint_index_; + resumePositionControlFromCurrentPose(); + rotation_target_yaw_ = + normalizeAngle(currentYaw() + second_turn_angle_); + setTargetYaw(rotation_target_yaw_); + yaw_is_stable_ = false; + mission_state_ = ROTATE_AFTER_FORWARD_AVOIDANCE; + resetArrivalStability(); + ROS_INFO("[FSM] Forward avoidance complete. Rotating counterclockwise %.1f degrees.", + std::fabs(second_turn_angle_ * 180.0 / M_PI)); + } else if (mission_state_ == WAIT_RETURN_AVOIDANCE) { + ++waypoint_index_; + resumePositionControlFromCurrentPose(); + mission_state_ = NAVIGATING; + resetArrivalStability(); + ROS_INFO("[FSM] Return avoidance complete."); + } + } + + void resumePositionControlFromCurrentPose() { + target_pose_.pose.position = current_pose_.position; + target_pose_.pose.orientation = current_pose_.orientation; + last_motion_update_time_ = ros::Time::now(); + } + + void downwardDoneCallback(const std_msgs::Empty::ConstPtr&) { + if (mission_state_ != WAIT_DOWNWARD_DETECTION) return; + mission_state_ = DROP_STABILIZING; + state_start_time_ = ros::Time::now(); + height_is_stable_ = false; + drop_original_z_ = waypoints_[waypoint_index_].z; + target_pose_.pose.position.z = drop_original_z_; + ROS_INFO("[FSM] Ground target confirmed. Stabilizing before drop."); + } + + void targetResultCallback(const std_msgs::String::ConstPtr& msg) { + if (!target_recognition_active_) return; + + const std::string result = msg->data; + target_recognition_active_ = false; + std_msgs::String stop; + stop.data = "STOP"; + target_command_pub_.publish(stop); + + const std::string selected_name = + result == "A_LEFT" ? target_left_waypoint_ : + result == "A_RIGHT" ? target_right_waypoint_ : ""; + selected_strike_index_ = findWaypointByName(selected_name); + if (selected_strike_index_ >= 0) { + target_retry_pending_ = false; + ROS_INFO("[FSM] Recognition stored while flying: %s -> '%s'.", + result.c_str(), selected_name.c_str()); + if (waiting_at_recognition_hover_) { + waiting_at_recognition_hover_ = false; + ++waypoint_index_; + mission_state_ = NAVIGATING; + resetArrivalStability(); + last_motion_update_time_ = ros::Time::now(); + ROS_INFO("[FSM] A/B recognition completed at hover point. " + "Continuing to the ground target."); + return; + } + if (mission_state_ == WAIT_TARGET_LAYOUT || + mission_state_ == WAIT_TARGET_RETRY) { + waypoint_index_ = selected_strike_index_; + mission_state_ = NAVIGATING; + resetArrivalStability(); + last_motion_update_time_ = ros::Time::now(); + } + return; + } + + target_retry_start_time_ = ros::Time::now(); + target_retry_pending_ = true; + if (mission_state_ == WAIT_TARGET_LAYOUT || + mission_state_ == WAIT_TARGET_AT_HOVER) { + mission_state_ = WAIT_TARGET_RETRY; + } + ROS_WARN("[FSM] A/B layout result '%s' is invalid or incomplete. " + "Recognition will retry.", result.c_str()); + } + + int findWaypointByName(const std::string& name) const { + if (name.empty()) return -1; + for (std::size_t i = 0; i < waypoints_.size(); ++i) { + if (waypoints_[i].name == name && + waypoints_[i].task == TASK_LASER_STRIKE) { + return static_cast(i); + } + } + ROS_ERROR("[FSM] Laser strike waypoint '%s' was not found.", + name.c_str()); + return -1; + } + + void startTargetLayoutRecognition(bool hold_position) { + if (selected_strike_index_ >= 0) return; + if (target_recognition_active_) { + if (hold_position) mission_state_ = WAIT_TARGET_LAYOUT; + return; + } + std_msgs::String command; + command.data = "START_AB_LAYOUT"; + target_command_pub_.publish(command); + target_recognition_active_ = true; + target_retry_pending_ = false; + if (hold_position) mission_state_ = WAIT_TARGET_LAYOUT; + ROS_INFO("[FSM] A/B recognition started%s.", + hold_position ? " while holding at the drop point" : + " while flying toward the drop point"); + } + + void updateMission(const ros::Time& now) { + if (waypoint_index_ >= static_cast(waypoints_.size())) return; + if (target_retry_pending_ && selected_strike_index_ < 0 && + now - target_retry_start_time_ >= + ros::Duration(target_retry_delay_)) { + startTargetLayoutRecognition( + mission_state_ == WAIT_TARGET_LAYOUT || + mission_state_ == WAIT_TARGET_RETRY); + } + Waypoint& waypoint = waypoints_[waypoint_index_]; + + if (mission_state_ == NAVIGATING) { + commandWaypoint(waypoint, now); + if (!arrivalStableAt(waypoint.x, waypoint.y, waypoint.z, + arrival_threshold_, now)) { + return; + } + resetArrivalStability(); + + switch (waypoint.task) { + case TASK_NORMAL: + ROS_INFO("[FSM] Waypoint '%s' reached.", + waypoint.name.c_str()); + ++waypoint_index_; + break; + + case TASK_AVOID_FORWARD: + target_pose_.pose.position.x = waypoint.x; + target_pose_.pose.position.y = waypoint.y; + target_pose_.pose.position.z = waypoint.z; + rotation_target_yaw_ = + normalizeAngle(currentYaw() + first_turn_angle_); + setTargetYaw(rotation_target_yaw_); + yaw_is_stable_ = false; + mission_state_ = ROTATE_BEFORE_FORWARD_AVOIDANCE; + ROS_INFO("[FSM] Pillar scan point reached. Rotating counterclockwise %.1f degrees.", + std::fabs(first_turn_angle_ * 180.0 / M_PI)); + break; + + case TASK_AB_RECOGNITION_HOVER: + if (selected_strike_index_ >= 0) { + ++waypoint_index_; + ROS_INFO("[FSM] A/B result was obtained in flight. " + "Passing recognition hover point."); + } else { + waiting_at_recognition_hover_ = true; + startTargetLayoutRecognition(false); + mission_state_ = WAIT_TARGET_AT_HOVER; + ROS_INFO("[FSM] A/B result not ready. Holding at " + "recognition point (%.2f, %.2f, %.2f).", + waypoint.x, waypoint.y, waypoint.z); + } + break; + + case TASK_DOWNWARD_DETECT_DROP: + mission_state_ = WAIT_DOWNWARD_DETECTION; + trigger_downward_pub_.publish(std_msgs::Empty()); + ROS_INFO("[FSM] Starting downward ground-target detection."); + break; + + case TASK_LASER_STRIKE: { + std_msgs::String laser; + laser.data = laser_command_; + payload_pub_.publish(laser); + state_start_time_ = now; + mission_state_ = LASER_HOLD; + ROS_INFO("[FSM] Laser strike point '%s' reached. " + "Published command: %s", + waypoint.name.c_str(), laser_command_.c_str()); + break; + } + + case TASK_AVOID_RETURN: + mission_state_ = WAIT_RETURN_AVOIDANCE; + trigger_return_avoidance_pub_.publish(std_msgs::Empty()); + ROS_INFO("[FSM] Starting return pillar avoidance."); + break; + + case TASK_LAND: { + mavros_msgs::SetMode land_mode; + land_mode.request.custom_mode = "AUTO.LAND"; + set_mode_client_.call(land_mode); + mission_state_ = LANDING; + ROS_INFO("[FSM] Home reached. AUTO.LAND requested."); + break; + } + } + } else if (mission_state_ == ROTATE_BEFORE_FORWARD_AVOIDANCE) { + setTargetYaw(rotation_target_yaw_); + if (yawStableAt(rotation_target_yaw_, now)) { + yaw_is_stable_ = false; + mission_state_ = WAIT_FORWARD_AVOIDANCE; + trigger_detection_pub_.publish(std_msgs::Empty()); + ROS_INFO("[FSM] First counterclockwise 90-degree turn stable. Starting pillar scan."); + } + } else if (mission_state_ == ROTATE_AFTER_FORWARD_AVOIDANCE) { + setTargetYaw(rotation_target_yaw_); + if (yawStableAt(rotation_target_yaw_, now)) { + yaw_is_stable_ = false; + mission_state_ = NAVIGATING; + resetArrivalStability(); + last_motion_update_time_ = now; + startTargetLayoutRecognition(false); + ROS_INFO("[FSM] Second counterclockwise 110-degree turn stable. " + "Flying toward drop point with A/B recognition active."); + } + } else if (mission_state_ == LASER_HOLD) { + if (now - state_start_time_ >= ros::Duration(laser_hold_time_)) { + // 无论选中左侧还是右侧，打击后都跳过另一个候选打击点。 + do { + ++waypoint_index_; + } while (waypoint_index_ < static_cast(waypoints_.size()) && + waypoints_[waypoint_index_].task == TASK_LASER_STRIKE); + mission_state_ = NAVIGATING; + resetArrivalStability(); + last_motion_update_time_ = now; + ROS_INFO("[FSM] Laser strike hold complete. Starting return route."); + } + } else if (mission_state_ == DROP_STABILIZING) { + if (now - state_start_time_ >= + ros::Duration(stabilize_before_drop_time_)) { + target_pose_.pose.position.z = + drop_original_z_ - drop_descent_; + height_is_stable_ = false; + mission_state_ = DROP_DESCENDING; + ROS_INFO("[FSM] Descending %.2fm for payload release.", + drop_descent_); + } + } else if (mission_state_ == DROP_DESCENDING) { + if (heightStableAt(drop_original_z_ - drop_descent_, now)) { + if (!payload_sent_) { + std_msgs::String payload; + payload.data = "servo_1"; + payload_pub_.publish(payload); + payload_sent_ = true; + ROS_INFO("[FSM] Published payload command once: servo_1"); + } + state_start_time_ = now; + mission_state_ = DROP_HOLDING; + } + } else if (mission_state_ == DROP_HOLDING) { + if (now - state_start_time_ >= + ros::Duration(drop_linger_time_)) { + target_pose_.pose.position.z = drop_original_z_; + height_is_stable_ = false; + mission_state_ = DROP_ASCENDING; + ROS_INFO("[FSM] Payload hold complete. Restoring altitude."); + } + } else if (mission_state_ == DROP_ASCENDING) { + if (heightStableAt(drop_original_z_, now)) { + payload_sent_ = false; + drop_complete_pub_.publish(std_msgs::Empty()); + if (selected_strike_index_ >= 0) { + waypoint_index_ = selected_strike_index_; + mission_state_ = NAVIGATING; + resetArrivalStability(); + last_motion_update_time_ = now; + ROS_INFO("[FSM] Drop complete. Flying to the recognized " + "strike point without rotating."); + } else { + startTargetLayoutRecognition(true); + ROS_WARN("[FSM] Drop complete but A/B layout is not ready. " + "Holding position without rotating."); + } + } + } + } + + void commandWaypoint(const Waypoint& waypoint, const ros::Time& now) { + double dt = 1.0 / control_rate_; + if (!last_motion_update_time_.isZero()) { + dt = (now - last_motion_update_time_).toSec(); + } + last_motion_update_time_ = now; + dt = std::max(0.0, std::min(dt, 0.25)); + + const double dx = waypoint.x - target_pose_.pose.position.x; + const double dy = waypoint.y - target_pose_.pose.position.y; + const double xy_distance = std::hypot(dx, dy); + const double max_xy_step = flight_speed_ * dt; + if (xy_distance <= max_xy_step || xy_distance < 1e-6) { + target_pose_.pose.position.x = waypoint.x; + target_pose_.pose.position.y = waypoint.y; + } else { + const double scale = max_xy_step / xy_distance; + target_pose_.pose.position.x += dx * scale; + target_pose_.pose.position.y += dy * scale; + } + + const double dz = waypoint.z - target_pose_.pose.position.z; + const double max_z_step = vertical_speed_ * dt; + target_pose_.pose.position.z += + std::max(-max_z_step, std::min(max_z_step, dz)); + + if (std::isfinite(waypoint.yaw)) { + target_pose_.pose.orientation.x = 0.0; + target_pose_.pose.orientation.y = 0.0; + target_pose_.pose.orientation.z = + std::sin(waypoint.yaw / 2.0); + target_pose_.pose.orientation.w = + std::cos(waypoint.yaw / 2.0); + } else { + target_pose_.pose.orientation = current_pose_.orientation; + } + } + + bool arrived(double x, double y, double z, double xy_threshold) const { + const double xy_distance = std::hypot( + current_pose_.position.x - x, + current_pose_.position.y - y); + const double z_error = std::fabs(current_pose_.position.z - z); + return xy_distance < xy_threshold && + z_error < arrival_z_tolerance_; + } + + bool arrivalStableAt(double x, double y, double z, double xy_threshold, + const ros::Time& now) { + if (!arrived(x, y, z, xy_threshold)) { + resetArrivalStability(); + return false; + } + if (arrival_stable_time_ <= 1e-6) { + return true; + } + if (!arrival_is_stable_) { + arrival_is_stable_ = true; + arrival_stable_start_time_ = now; + return false; + } + return now - arrival_stable_start_time_ >= + ros::Duration(arrival_stable_time_); + } + + void resetArrivalStability() { + arrival_is_stable_ = false; + } + + bool heightStableAt(double target_z, const ros::Time& now) { + const double error = std::fabs(current_pose_.position.z - target_z); + if (error > drop_height_tolerance_) { + height_is_stable_ = false; + return false; + } + + if (!height_is_stable_) { + height_is_stable_ = true; + height_stable_start_time_ = now; + return false; + } + + return now - height_stable_start_time_ >= + ros::Duration(drop_height_stable_time_); + } + + bool yawStableAt(double target_yaw, const ros::Time& now) { + const double error = std::fabs(normalizeAngle( + target_yaw - currentYaw())); + if (error > turn_yaw_tolerance_) { + yaw_is_stable_ = false; + return false; + } + if (!yaw_is_stable_) { + yaw_is_stable_ = true; + yaw_stable_start_time_ = now; + return false; + } + return now - yaw_stable_start_time_ >= + ros::Duration(turn_yaw_stable_time_); + } + + double currentYaw() const { + const geometry_msgs::Quaternion& q = current_pose_.orientation; + return std::atan2( + 2.0 * (q.w * q.z + q.x * q.y), + 1.0 - 2.0 * (q.y * q.y + q.z * q.z)); + } + + static double normalizeAngle(double angle) { + return std::atan2(std::sin(angle), std::cos(angle)); + } + + void setTargetYaw(double yaw) { + target_pose_.pose.orientation.x = 0.0; + target_pose_.pose.orientation.y = 0.0; + target_pose_.pose.orientation.z = std::sin(yaw / 2.0); + target_pose_.pose.orientation.w = std::cos(yaw / 2.0); + } +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "position_node"); + MasterFSM fsm; + fsm.run(); + return 0; +} diff --git a/caim_ws_1.3/src/caim_core/src/trajectory_executor_node.cpp b/caim_ws_1.3/src/caim_core/src/trajectory_executor_node.cpp new file mode 100644 index 0000000..84f4b03 --- /dev/null +++ b/caim_ws_1.3/src/caim_core/src/trajectory_executor_node.cpp @@ -0,0 +1,716 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct Point2D { + double x; + double y; +}; + +struct RoutePoint { + double x; + double y; + double z; +}; + +struct Pillar { + int id; + double x; + double y; + bool active; +}; + +class TrajectoryExecutor { +private: + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + + ros::Subscriber trigger_sub_; + ros::Subscriber combo_sub_; + ros::Subscriber pose_sub_; + ros::Subscriber return_trigger_sub_; + ros::Publisher velocity_pub_; + ros::Publisher arrived_pub_; + ros::Publisher route_path_pub_; + ros::Publisher route_marker_pub_; + ros::Publisher octomap_route_path_pub_; + ros::Publisher octomap_route_marker_pub_; + + bool configuration_ready_; + bool active_; + bool pose_received_; + bool route_selected_; + bool return_mode_; + int combo_code_; + + geometry_msgs::PoseStamped current_pose_; + geometry_msgs::TwistStamped last_velocity_command_; + + RoutePoint configured_start_; + double avoidance_altitude_; + + std::vector pillars_; + std::vector active_route_; + std::vector selected_empty_points_; + std::size_t target_index_; + + double control_rate_; + double cruise_speed_; + double corner_speed_; + double corner_slowdown_distance_; + double maximum_acceleration_; + double maximum_vertical_speed_; + double altitude_kp_; + double altitude_arrival_tolerance_; + double waypoint_switch_radius_; + double goal_tolerance_; + double final_approach_kp_; + double final_minimum_speed_; + double route_arrival_stable_time_; + double route_goal_hold_time_; + double start_tolerance_; + double minimum_clearance_; + bool validate_route_clearance_; + bool publish_octomap_route_; + std::string octomap_route_frame_; + double octomap_route_x_; + double octomap_route_y_; + double octomap_route_z_; + double octomap_route_yaw_; + bool route_target_is_stable_; + ros::Time route_target_stable_start_time_; + +public: + TrajectoryExecutor() + : pnh_("~"), + configuration_ready_(false), + active_(false), + pose_received_(false), + route_selected_(false), + return_mode_(false), + combo_code_(-1), + target_index_(0), + route_target_is_stable_(false) { + loadParameters(); + loadPillars(); + + trigger_sub_ = nh_.subscribe( + "/caim/trigger_detection", 1, + &TrajectoryExecutor::triggerCallback, this); + combo_sub_ = nh_.subscribe( + "/caim/detection_result", 1, + &TrajectoryExecutor::comboCallback, this); + pose_sub_ = nh_.subscribe( + "/mavros/local_position/pose", 10, + &TrajectoryExecutor::poseCallback, this); + return_trigger_sub_ = nh_.subscribe( + "/caim/trigger_return_avoidance", 1, + &TrajectoryExecutor::returnTriggerCallback, this); + + velocity_pub_ = nh_.advertise( + "/mavros/setpoint_velocity/cmd_vel", 10); + arrived_pub_ = nh_.advertise( + "/caim/arrived_at_drop_zone", 1); + // 使用 latched 发布器：RViz 晚启动也能收到最近一次规划路线。 + route_path_pub_ = nh_.advertise( + "/caim/avoidance_route", 1, true); + route_marker_pub_ = nh_.advertise( + "/caim/avoidance_route_marker", 1, true); + octomap_route_path_pub_ = nh_.advertise( + "/caim/avoidance_route_octomap", 1, true); + octomap_route_marker_pub_ = nh_.advertise( + "/caim/avoidance_route_octomap_marker", 1, true); + + if (!configuration_ready_) { + ROS_WARN("[EXECUTOR] configuration_ready=false. " + "Fill routes.launch and set it to true before flight."); + } + ROS_INFO("[EXECUTOR] Fixed-route velocity executor ready. " + "Cruise speed: %.2f m/s.", cruise_speed_); + } + + void run() { + ros::Rate rate(control_rate_); + while (ros::ok()) { + ros::spinOnce(); + + if (active_) { + if (!route_selected_) { + // 雷达识别期间持续发送零速度，避免 OFFBOARD setpoint 中断。 + publishVelocity(0.0, 0.0, 0.0); + } else { + followSelectedRoute(); + } + } + rate.sleep(); + } + } + +private: + void loadParameters() { + pnh_.param("configuration_ready", configuration_ready_, false); + + pnh_.param("start_x", configured_start_.x, 0.0); + pnh_.param("start_y", configured_start_.y, 0.0); + pnh_.param("start_z", configured_start_.z, 0.8); + pnh_.param("avoidance_altitude", avoidance_altitude_, + configured_start_.z); + + pnh_.param("control_rate", control_rate_, 30.0); + pnh_.param("cruise_speed", cruise_speed_, 0.8); + pnh_.param("corner_speed", corner_speed_, 0.25); + pnh_.param("corner_slowdown_distance", + corner_slowdown_distance_, 0.60); + pnh_.param("maximum_acceleration", maximum_acceleration_, 1.2); + pnh_.param("maximum_vertical_speed", maximum_vertical_speed_, 0.4); + pnh_.param("altitude_kp", altitude_kp_, 1.0); + pnh_.param("altitude_arrival_tolerance", + altitude_arrival_tolerance_, 0.25); + pnh_.param("waypoint_switch_radius", waypoint_switch_radius_, 0.25); + pnh_.param("goal_tolerance", goal_tolerance_, 0.15); + pnh_.param("final_approach_kp", final_approach_kp_, 0.70); + pnh_.param("final_minimum_speed", final_minimum_speed_, 0.04); + pnh_.param("route_arrival_stable_time", + route_arrival_stable_time_, 0.30); + pnh_.param("route_goal_hold_time", route_goal_hold_time_, 0.40); + pnh_.param("start_tolerance", start_tolerance_, 0.50); + pnh_.param("minimum_clearance", minimum_clearance_, 0.35); + pnh_.param("validate_route_clearance", validate_route_clearance_, true); + pnh_.param("publish_octomap_route", publish_octomap_route_, true); + pnh_.param("octomap_route_frame", + octomap_route_frame_, "camera_init"); + pnh_.param("octomap_route_x", octomap_route_x_, 0.0); + pnh_.param("octomap_route_y", octomap_route_y_, 0.0); + pnh_.param("octomap_route_z", octomap_route_z_, 0.0); + pnh_.param("octomap_route_yaw", octomap_route_yaw_, M_PI / 2.0); + + control_rate_ = std::max(10.0, control_rate_); + cruise_speed_ = std::max(0.05, cruise_speed_); + corner_speed_ = + std::max(0.05, std::min(corner_speed_, cruise_speed_)); + corner_slowdown_distance_ = + std::max(waypoint_switch_radius_, corner_slowdown_distance_); + maximum_acceleration_ = std::max(0.05, maximum_acceleration_); + final_approach_kp_ = std::max(0.05, final_approach_kp_); + final_minimum_speed_ = + std::max(0.0, std::min(final_minimum_speed_, cruise_speed_)); + route_arrival_stable_time_ = + std::max(0.0, route_arrival_stable_time_); + route_goal_hold_time_ = std::max(0.0, route_goal_hold_time_); + } + + static double xmlNumber(const XmlRpc::XmlRpcValue& value) { + if (value.getType() == XmlRpc::XmlRpcValue::TypeInt) { + return static_cast(value); + } + return static_cast(value); + } + + void loadPillars() { + XmlRpc::XmlRpcValue list; + if (!pnh_.getParam("pillars", list) || + list.getType() != XmlRpc::XmlRpcValue::TypeArray) { + ROS_ERROR("[EXECUTOR] Parameter '~pillars' is missing or invalid."); + return; + } + + for (int i = 0; i < list.size(); ++i) { + Pillar pillar; + pillar.id = static_cast(list[i]["id"]); + pillar.x = xmlNumber(list[i]["x"]); + pillar.y = xmlNumber(list[i]["y"]); + pillar.active = false; + pillars_.push_back(pillar); + } + } + + void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg) { + current_pose_ = *msg; + pose_received_ = true; + } + + void triggerCallback(const std_msgs::Empty::ConstPtr&) { + if (active_) { + ROS_WARN("[EXECUTOR] Trigger ignored: executor is already active."); + return; + } + if (!pose_received_) { + ROS_ERROR("[EXECUTOR] Refusing to fly: no local pose received."); + return; + } + + // 主状态机发出 trigger 后会立即交出控制权，因此这里先接管并悬停。 + // 即使配置错误，也不能让 OFFBOARD setpoint 中断。 + const double start_xy_error = std::hypot( + current_pose_.pose.position.x - configured_start_.x, + current_pose_.pose.position.y - configured_start_.y); + const double start_z_error = std::fabs( + current_pose_.pose.position.z - configured_start_.z); + const double start_error = distance3D( + current_pose_.pose.position.x, + current_pose_.pose.position.y, + current_pose_.pose.position.z, + configured_start_.x, + configured_start_.y, + configured_start_.z); + + active_ = true; + route_selected_ = false; + combo_code_ = -1; + active_route_.clear(); + target_index_ = 0; + last_velocity_command_ = geometry_msgs::TwistStamped(); + resetRouteTargetStability(); + + if (!configuration_ready_) { + ROS_ERROR("[EXECUTOR] configuration_ready=false. " + "Holding position; route execution is disabled."); + return; + } + if (start_xy_error > start_tolerance_ || + start_z_error > altitude_arrival_tolerance_) { + ROS_ERROR("[EXECUTOR] Current pose is %.2fm from configured start " + "(xy=%.2f z=%.2f). Allowed: xy %.2fm, z %.2fm. " + "Holding position; check start parameters.", + start_error, start_xy_error, start_z_error, + start_tolerance_, altitude_arrival_tolerance_); + return; + } + + ROS_INFO("[EXECUTOR] Triggered at configured start. " + "Holding position while waiting for pillar combination."); + } + + void comboCallback(const std_msgs::Int32::ConstPtr& msg) { + if (!active_) { + return; + } + + const int code = msg->data; + const int first = code / 10; + const int second = code % 10; + if (!((first == 1 || first == 2) && + (second == 3 || second == 4))) { + ROS_ERROR("[EXECUTOR] Unsupported combination %02d. Holding.", code); + return; + } + + combo_code_ = code; + setActivePillars(code); + selected_empty_points_.clear(); + for (std::size_t i = 0; i < pillars_.size(); ++i) { + if (!pillars_[i].active) { + Point2D empty_point; + empty_point.x = pillars_[i].x; + empty_point.y = pillars_[i].y; + selected_empty_points_.push_back(empty_point); + } + } + if (selected_empty_points_.size() != 2) { + ROS_ERROR("[EXECUTOR] Expected exactly two empty pillar positions, " + "but got %lu. Check '~pillars'.", + selected_empty_points_.size()); + return; + } + buildRoute(selected_empty_points_); + + if (validate_route_clearance_ && !routeHasClearance()) { + ROS_ERROR("[EXECUTOR] Route %02d failed pillar clearance check. " + "Holding position.", code); + active_route_.clear(); + route_selected_ = false; + resetRouteTargetStability(); + return; + } + + // 柱子组合确认并通过安全检查后，立即把正向路线显示到 RViz。 + publishRouteVisualization(false); + + // active_route_[0] 是配置起点；飞机已在起点，直接追踪第一个中间点。 + target_index_ = 1; + route_selected_ = true; + return_mode_ = false; + resetRouteTargetStability(); + ROS_INFO("[EXECUTOR] Combination %02d selected. " + "Following fixed route with %lu intermediate points at %.2f m/s.", + code, selected_empty_points_.size(), cruise_speed_); + } + + void returnTriggerCallback(const std_msgs::Empty::ConstPtr&) { + if (active_) { + ROS_WARN("[EXECUTOR] Return trigger ignored: executor is active."); + return; + } + if (!pose_received_) { + ROS_ERROR("[EXECUTOR] Return avoidance refused: no pose."); + return; + } + if (selected_empty_points_.size() < 2) { + ROS_ERROR("[EXECUTOR] Return avoidance refused: no recorded " + "forward empty-pillar route."); + return; + } + + active_route_.clear(); + RoutePoint current_start; + current_start.x = current_pose_.pose.position.x; + current_start.y = current_pose_.pose.position.y; + current_start.z = current_pose_.pose.position.z; + active_route_.push_back(current_start); + + for (std::vector::const_reverse_iterator it = + selected_empty_points_.rbegin(); + it != selected_empty_points_.rend(); ++it) { + RoutePoint point; + point.x = it->x; + point.y = it->y; + point.z = avoidance_altitude_; + active_route_.push_back(point); + } + + // 返航时改用另一种颜色显示反向复用路线。 + publishRouteVisualization(true); + + active_ = true; + route_selected_ = true; + return_mode_ = true; + target_index_ = 1; + last_velocity_command_ = geometry_msgs::TwistStamped(); + resetRouteTargetStability(); + ROS_INFO("[EXECUTOR] Return avoidance started. Reversing %lu " + "recorded empty-pillar points.", + selected_empty_points_.size()); + } + + void setActivePillars(int code) { + const int first = code / 10; + const int second = code % 10; + for (std::size_t i = 0; i < pillars_.size(); ++i) { + pillars_[i].active = + pillars_[i].id == first || pillars_[i].id == second; + } + } + + void buildRoute(const std::vector& intermediate_points) { + active_route_.clear(); + active_route_.push_back(configured_start_); + + for (std::size_t i = 0; i < intermediate_points.size(); ++i) { + RoutePoint point; + point.x = intermediate_points[i].x; + point.y = intermediate_points[i].y; + point.z = avoidance_altitude_; + active_route_.push_back(point); + } + + // 第二个空柱位就是避障终点，由 position_node 接管后续航点。 + } + + void followSelectedRoute() { + if (target_index_ >= active_route_.size()) { + finishRoute(); + return; + } + + const ros::Time now = ros::Time::now(); + const RoutePoint& target = active_route_[target_index_]; + const double dx = target.x - current_pose_.pose.position.x; + const double dy = target.y - current_pose_.pose.position.y; + const double horizontal_distance = std::hypot(dx, dy); + const bool final_point = target_index_ + 1 == active_route_.size(); + const double switch_radius = + final_point ? goal_tolerance_ : waypoint_switch_radius_; + + if (horizontal_distance <= switch_radius && + std::fabs(target.z - current_pose_.pose.position.z) <= + altitude_arrival_tolerance_) { + publishVelocity(0.0, 0.0, 0.0); + + const double stable_time = + final_point ? route_goal_hold_time_ + : route_arrival_stable_time_; + if (!routeTargetStableFor(stable_time, now)) { + return; + } + + resetRouteTargetStability(); + if (final_point) { + finishRoute(); + return; + } + + ROS_INFO("[EXECUTOR] Route %02d: turn point %lu/%lu reached.", + combo_code_, target_index_, + active_route_.size() - 2); + ++target_index_; + return; + } + resetRouteTargetStability(); + + double desired_speed = cruise_speed_; + if (final_point) { + // 终点前使用更柔的比例速度，避免最小速度过高导致冲过空柱位。 + desired_speed = std::min( + cruise_speed_, + std::max(final_minimum_speed_, + horizontal_distance * final_approach_kp_)); + } else if (horizontal_distance < corner_slowdown_distance_) { + // 中间拐点前按制动距离降速，避免保持巡航速度直接削弯。 + // 距离越接近切换半径，速度越接近 corner_speed。 + const double usable_distance = std::max( + 0.0, horizontal_distance - waypoint_switch_radius_); + const double braking_limited_speed = std::sqrt( + corner_speed_ * corner_speed_ + + 2.0 * maximum_acceleration_ * usable_distance); + desired_speed = std::max( + corner_speed_, + std::min(cruise_speed_, braking_limited_speed)); + } + + double desired_vx = 0.0; + double desired_vy = 0.0; + if (horizontal_distance > 1e-4) { + desired_vx = desired_speed * dx / horizontal_distance; + desired_vy = desired_speed * dy / horizontal_distance; + } + + double desired_vz = + altitude_kp_ * (target.z - current_pose_.pose.position.z); + desired_vz = clamp(desired_vz, + -maximum_vertical_speed_, + maximum_vertical_speed_); + + const double dt = 1.0 / control_rate_; + const double max_delta = maximum_acceleration_ * dt; + const double command_vx = approach( + last_velocity_command_.twist.linear.x, desired_vx, max_delta); + const double command_vy = approach( + last_velocity_command_.twist.linear.y, desired_vy, max_delta); + const double command_vz = approach( + last_velocity_command_.twist.linear.z, desired_vz, max_delta); + + publishVelocity(command_vx, command_vy, command_vz); + } + + void finishRoute() { + publishVelocity(0.0, 0.0, 0.0); + ROS_INFO("[EXECUTOR] %s route %02d complete. Returning control.", + return_mode_ ? "Return" : "Forward", combo_code_); + arrived_pub_.publish(std_msgs::Empty()); + active_ = false; + route_selected_ = false; + return_mode_ = false; + active_route_.clear(); + resetRouteTargetStability(); + } + + void publishVelocity(double vx, double vy, double vz) { + geometry_msgs::TwistStamped command; + command.header.stamp = ros::Time::now(); + command.header.frame_id = current_pose_.header.frame_id; + command.twist.linear.x = vx; + command.twist.linear.y = vy; + command.twist.linear.z = vz; + velocity_pub_.publish(command); + last_velocity_command_ = command; + } + + void publishRouteVisualization(bool is_return_route) { + const ros::Time stamp = ros::Time::now(); + const std::string frame_id = current_pose_.header.frame_id.empty() + ? "map" + : current_pose_.header.frame_id; + + nav_msgs::Path path; + path.header.stamp = stamp; + path.header.frame_id = frame_id; + + visualization_msgs::Marker line; + line.header = path.header; + line.ns = "caim_avoidance_route"; + line.id = 0; + line.type = visualization_msgs::Marker::LINE_STRIP; + line.action = visualization_msgs::Marker::ADD; + line.pose.orientation.w = 1.0; + line.scale.x = 0.06; + line.color.a = 1.0; + if (is_return_route) { + line.color.r = 1.0; + line.color.g = 0.35; + line.color.b = 0.05; // 返航路线：橙色 + } else { + line.color.r = 0.0; + line.color.g = 0.9; + line.color.b = 0.25; // 正向路线：绿色 + } + + for (std::size_t i = 0; i < active_route_.size(); ++i) { + geometry_msgs::PoseStamped pose; + pose.header = path.header; + pose.pose.position.x = active_route_[i].x; + pose.pose.position.y = active_route_[i].y; + pose.pose.position.z = active_route_[i].z; + pose.pose.orientation.w = 1.0; + path.poses.push_back(pose); + + geometry_msgs::Point point; + point.x = active_route_[i].x; + point.y = active_route_[i].y; + point.z = active_route_[i].z; + line.points.push_back(point); + } + + route_path_pub_.publish(path); + route_marker_pub_.publish(line); + if (publish_octomap_route_) { + publishOctomapRouteVisualization(is_return_route, stamp); + } + ROS_INFO("[EXECUTOR] Published %s route with %lu points for RViz.", + is_return_route ? "return" : "forward", + active_route_.size()); + } + + void publishOctomapRouteVisualization(bool is_return_route, + const ros::Time& stamp) { + nav_msgs::Path path; + path.header.stamp = stamp; + path.header.frame_id = octomap_route_frame_; + + visualization_msgs::Marker line; + line.header = path.header; + line.ns = "caim_avoidance_route_octomap"; + line.id = 0; + line.type = visualization_msgs::Marker::LINE_STRIP; + line.action = visualization_msgs::Marker::ADD; + line.pose.orientation.w = 1.0; + line.scale.x = 0.08; + line.color.a = 1.0; + if (is_return_route) { + line.color.r = 1.0; + line.color.g = 0.35; + line.color.b = 0.05; + } else { + line.color.r = 0.0; + line.color.g = 1.0; + line.color.b = 0.2; + } + + const double c = std::cos(octomap_route_yaw_); + const double s = std::sin(octomap_route_yaw_); + for (std::size_t i = 0; i < active_route_.size(); ++i) { + geometry_msgs::Point point; + point.x = octomap_route_x_ + + c * active_route_[i].x - s * active_route_[i].y; + point.y = octomap_route_y_ + + s * active_route_[i].x + c * active_route_[i].y; + point.z = octomap_route_z_ + active_route_[i].z; + line.points.push_back(point); + + geometry_msgs::PoseStamped pose; + pose.header = path.header; + pose.pose.position = point; + pose.pose.orientation.w = 1.0; + path.poses.push_back(pose); + } + + octomap_route_path_pub_.publish(path); + octomap_route_marker_pub_.publish(line); + ROS_INFO("[EXECUTOR] Published OctoMap route in frame '%s' " + "(x=%.2f y=%.2f z=%.2f yaw=%.3f).", + octomap_route_frame_.c_str(), octomap_route_x_, + octomap_route_y_, octomap_route_z_, octomap_route_yaw_); + } + + bool routeHasClearance() const { + for (std::size_t segment = 1; + segment < active_route_.size(); ++segment) { + for (std::size_t i = 0; i < pillars_.size(); ++i) { + if (!pillars_[i].active) { + continue; + } + + const double clearance = pointToSegmentDistance( + pillars_[i].x, pillars_[i].y, + active_route_[segment - 1].x, + active_route_[segment - 1].y, + active_route_[segment].x, + active_route_[segment].y); + if (clearance < minimum_clearance_) { + ROS_ERROR("[EXECUTOR] Route %02d segment %lu passes " + "pillar %d at %.2fm; required %.2fm.", + combo_code_, segment, pillars_[i].id, + clearance, minimum_clearance_); + return false; + } + } + } + return true; + } + + bool routeTargetStableFor(double stable_time, const ros::Time& now) { + if (stable_time <= 1e-6) { + return true; + } + if (!route_target_is_stable_) { + route_target_is_stable_ = true; + route_target_stable_start_time_ = now; + return false; + } + return now - route_target_stable_start_time_ >= + ros::Duration(stable_time); + } + + void resetRouteTargetStability() { + route_target_is_stable_ = false; + } + + static double pointToSegmentDistance(double px, double py, + double ax, double ay, + double bx, double by) { + const double ab_x = bx - ax; + const double ab_y = by - ay; + const double length_squared = ab_x * ab_x + ab_y * ab_y; + if (length_squared < 1e-9) { + return std::hypot(px - ax, py - ay); + } + + const double projection = + ((px - ax) * ab_x + (py - ay) * ab_y) / length_squared; + const double ratio = clamp(projection, 0.0, 1.0); + return std::hypot( + px - (ax + ratio * ab_x), + py - (ay + ratio * ab_y)); + } + + static double distance3D(double ax, double ay, double az, + double bx, double by, double bz) { + return std::sqrt( + (ax - bx) * (ax - bx) + + (ay - by) * (ay - by) + + (az - bz) * (az - bz)); + } + + static double clamp(double value, double minimum, double maximum) { + return std::max(minimum, std::min(maximum, value)); + } + + static double approach(double current, double target, double max_delta) { + return current + clamp(target - current, -max_delta, max_delta); + } +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "trajectory_executor_node"); + TrajectoryExecutor executor; + executor.run(); + return 0; +} diff --git a/caim_ws_1.3/src/caim_tiaoshi/CMakeLists.txt b/caim_ws_1.3/src/caim_tiaoshi/CMakeLists.txt new file mode 100644 index 0000000..3560abb --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.0.2) +project(caim_tiaoshi) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + rospy + std_msgs + visualization_msgs + caim_core +) + +catkin_package( + CATKIN_DEPENDS geometry_msgs nav_msgs rospy std_msgs visualization_msgs caim_core +) + +catkin_install_python(PROGRAMS + scripts/debug_trigger_node.py + scripts/route_visualizer_node.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(PROGRAMS start.sh + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/caim_ws_1.3/src/caim_tiaoshi/README.md b/caim_ws_1.3/src/caim_tiaoshi/README.md new file mode 100644 index 0000000..0740867 --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/README.md @@ -0,0 +1,80 @@ +# caim_tiaoshi + +本包用于脱离 `position_node` 主状态机，单独重复调试三个感知任务。调试节点只 +发布识别触发消息并打印结果，不发布 MAVROS setpoint，也不执行投放或激光动作。 + +圆环和 A/B 调试默认使用 USB 摄像头序号 0，并发布到 +`/usb_camera/image_raw`。真机推荐使用 `/dev/v4l/by-id/` 中稳定的硬件名： + +```bash +ls -l /dev/v4l/by-id/ +./start.sh circle camera_device_name:= +./start.sh ab camera_device_name:= +``` + +不要把 `/usb_camera/image_raw` 误认为磁盘绝对路径： +它是 ROS 话题名，与工作区安装位置无关。 + +编译： + +```bash +cd +catkin_make +source devel/setup.bash +``` + +分别启动： + +```bash +cd src/caim_tiaoshi +./start.sh pillar +./start.sh circle +./start.sh ab +``` + +柱子模式会同时打开 OctoMap RViz。识别到合法组合后，纯可视化节点按原路线 +规则选择两个空柱位，并发布： + +```text +/caim/avoidance_route_octomap +/caim/avoidance_route_octomap_marker +``` + +它不会启动避障执行器，也不会向 MAVROS 发布速度。关闭 RViz： + +```bash +./start.sh pillar show_rviz:=false +``` + +三个一起启动： + +```bash +./start.sh all +``` + +真机话题不同时直接覆盖： + +```bash +./start.sh pillar cloud_topic:=/cloud_registered +./start.sh circle camera_device_index:=1 show_gui:=false +./start.sh ab camera_device_index:=1 show_gui:=false +``` + +如果 YOLO 安装在虚拟环境中，不要把某台机器的解释器路径写进 launch。启动时覆盖： + +```bash +CAIM_PYTHON_EXECUTABLE=<虚拟环境中的python3> ./start.sh ab +``` + +若 `conda` 已在 PATH 中，启动器也会自动尝试环境 `yolo11`；环境名不同时使用 +`CAIM_CONDA_ENV=<环境名> ./start.sh ab`。 + +启动器还会扫描当前用户常见的 Conda 环境目录，并将 ROS Python 模块追加到 +YOLO 环境末尾，因此 YOLO 环境本身不要求重复安装 `rospy`，也不会覆盖 Conda +中的 NumPy/OpenCV。 + +默认会在一次识别结束或超时后自动再次触发。只执行一次可传入： + +```bash +./start.sh pillar repeat:=false +``` diff --git a/caim_ws_1.3/src/caim_tiaoshi/launch/ab_debug.launch b/caim_ws_1.3/src/caim_tiaoshi/launch/ab_debug.launch new file mode 100644 index 0000000..636a9b7 --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/launch/ab_debug.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/caim_ws_1.3/src/caim_tiaoshi/launch/circle_debug.launch b/caim_ws_1.3/src/caim_tiaoshi/launch/circle_debug.launch new file mode 100644 index 0000000..00c820c --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/launch/circle_debug.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/caim_ws_1.3/src/caim_tiaoshi/launch/pillar_debug.launch b/caim_ws_1.3/src/caim_tiaoshi/launch/pillar_debug.launch new file mode 100644 index 0000000..581160e --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/launch/pillar_debug.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - {id: 1, x: 0.80, y: -2.05} + - {id: 2, x: 0.80, y: -2.65} + - {id: 3, x: 2.05, y: -2.05} + - {id: 4, x: 2.05, y: -2.65} + + + + + diff --git a/caim_ws_1.3/src/caim_tiaoshi/package.xml b/caim_ws_1.3/src/caim_tiaoshi/package.xml new file mode 100644 index 0000000..1833a3b --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/package.xml @@ -0,0 +1,17 @@ + + + caim_tiaoshi + 0.1.0 + Standalone perception debugging tools for caim_core. + + yekai + MIT + + catkin + caim_core + geometry_msgs + nav_msgs + rospy + std_msgs + visualization_msgs + diff --git a/caim_ws_1.3/src/caim_tiaoshi/rviz/octomap_route.rviz b/caim_ws_1.3/src/caim_tiaoshi/rviz/octomap_route.rviz new file mode 100644 index 0000000..96295a5 --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/rviz/octomap_route.rviz @@ -0,0 +1,108 @@ +Panels: + - Class: rviz/Displays + Name: Displays + - Class: rviz/Views + Name: Views +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Name: Grid + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /occupied_cells_vis_array + Name: OctoMap Occupied Cells + Namespaces: {} + Queue Size: 10 + Value: true + - Alpha: 0.4 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 180; 180; 180 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Name: Registered Cloud + Position Transformer: XYZ + Queue Size: 2 + Selectable: true + Size (Pixels): 2 + Size (m): 0.03 + Style: Points + Topic: /cloud_registered + Unreliable: false + Use Fixed Frame: true + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 50 + Enabled: true + Head Diameter: 0.12 + Head Length: 0.08 + Length: 0.15 + Line Style: Lines + Line Width: 0.06 + Name: OctoMap Avoidance Path + Offset: {X: 0, Y: 0, Z: 0} + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.03 + Shaft Diameter: 0.05 + Shaft Length: 0.10 + Topic: /caim/avoidance_route_octomap + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /caim/avoidance_route_octomap_marker + Name: Colored OctoMap Route + Namespaces: + caim_avoidance_route_octomap: true + Queue Size: 10 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: camera_init + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.12734 + Focal Point: {X: 2.1432, Y: 1.2, Z: 0.8} + Focal Shape Fixed Size: true + Focal Shape Size: 0.05 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.485202 + Target Frame: + Yaw: 5.25358 + Saved: ~ +Window Geometry: + Height: 850 + Width: 1300 + X: 80 + Y: 60 diff --git a/caim_ws_1.3/src/caim_tiaoshi/scripts/debug_trigger_node.py b/caim_ws_1.3/src/caim_tiaoshi/scripts/debug_trigger_node.py new file mode 100755 index 0000000..d3aa0cb --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/scripts/debug_trigger_node.py @@ -0,0 +1,136 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""在不启动主状态机的情况下，自动触发并重复调试感知节点。""" + +import rospy +from std_msgs.msg import Empty, Int32, String + + +class DebugTrigger: + def __init__(self): + self.mode = rospy.get_param("~mode") + self.repeat = rospy.get_param("~repeat", True) + self.startup_delay = float(rospy.get_param("~startup_delay", 2.0)) + self.repeat_delay = float(rospy.get_param("~repeat_delay", 1.0)) + self.response_timeout = float( + rospy.get_param("~response_timeout", 8.0)) + + self.waiting = False + self.finished = False + self.attempt = 0 + self.started_at = rospy.Time(0) + self.next_trigger_at = rospy.Time.now() + rospy.Duration( + self.startup_delay) + + if self.mode == "pillar": + self.trigger_pub = rospy.Publisher( + "/caim/trigger_detection", Empty, queue_size=1) + rospy.Subscriber( + "/caim/detection_result", Int32, + self.pillar_result_callback, queue_size=1) + elif self.mode == "circle": + self.trigger_pub = rospy.Publisher( + "/caim/trigger_downward_detection", Empty, queue_size=1) + self.reset_pub = rospy.Publisher( + "/caim/drop_complete", Empty, queue_size=1) + rospy.Subscriber( + "/caim/downward_detection_done", Empty, + self.circle_result_callback, queue_size=1) + elif self.mode == "ab": + self.trigger_pub = rospy.Publisher( + "/caim/target_recognition_cmd", String, queue_size=1) + rospy.Subscriber( + "/caim/target_recognition_result", String, + self.ab_result_callback, queue_size=1) + else: + raise ValueError("unsupported debug mode: {}".format(self.mode)) + + self.timer = rospy.Timer( + rospy.Duration(0.1), self.timer_callback) + rospy.loginfo( + "[TIAOSHI] mode=%s repeat=%s; waiting for detector node.", + self.mode, self.repeat) + + def schedule_next(self): + self.waiting = False + if self.repeat: + self.next_trigger_at = rospy.Time.now() + rospy.Duration( + self.repeat_delay) + else: + self.finished = True + + def trigger(self): + self.attempt += 1 + self.waiting = True + self.started_at = rospy.Time.now() + + if self.mode in ("pillar", "circle"): + self.trigger_pub.publish(Empty()) + else: + self.trigger_pub.publish(String(data="START_AB_LAYOUT")) + + rospy.loginfo( + "[TIAOSHI] %s recognition triggered, attempt %d.", + self.mode, self.attempt) + + def timer_callback(self, _event): + if self.finished: + return + + now = rospy.Time.now() + if self.waiting: + if now - self.started_at > rospy.Duration( + self.response_timeout): + rospy.logwarn( + "[TIAOSHI] %s attempt %d timed out after %.1fs.", + self.mode, self.attempt, self.response_timeout) + self.schedule_next() + return + + if now < self.next_trigger_at: + return + + if self.trigger_pub.get_num_connections() == 0: + rospy.logwarn_throttle( + 2.0, "[TIAOSHI] waiting for %s detector subscriber...", + self.mode) + return + + self.trigger() + + def pillar_result_callback(self, msg): + if not self.waiting: + return + rospy.loginfo( + "[TIAOSHI] pillar result: %02d (occupied pillar IDs).", + msg.data) + self.schedule_next() + + def circle_result_callback(self, _msg): + if not self.waiting: + return + rospy.loginfo("[TIAOSHI] circle result: target centered and stable.") + # 原节点等待投放完成消息来清除保持画面；调试包只做复位，不执行投放。 + rospy.Timer( + rospy.Duration(0.2), self.reset_circle, + oneshot=True) + self.schedule_next() + + def reset_circle(self, _event): + self.reset_pub.publish(Empty()) + + def ab_result_callback(self, msg): + if not self.waiting: + return + rospy.loginfo("[TIAOSHI] A/B result: %s", msg.data) + self.schedule_next() + + +if __name__ == "__main__": + rospy.init_node("caim_debug_trigger") + try: + DebugTrigger() + rospy.spin() + except (rospy.ROSInterruptException, ValueError) as exc: + rospy.logerr("[TIAOSHI] %s", exc) diff --git a/caim_ws_1.3/src/caim_tiaoshi/scripts/route_visualizer_node.py b/caim_ws_1.3/src/caim_tiaoshi/scripts/route_visualizer_node.py new file mode 100755 index 0000000..34cbe39 --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/scripts/route_visualizer_node.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +"""根据柱子识别组合生成 OctoMap 坐标系路线，仅用于可视化。""" + +import math + +import rospy +from geometry_msgs.msg import Point, PoseStamped +from nav_msgs.msg import Path +from std_msgs.msg import Int32 +from visualization_msgs.msg import Marker + + +class RouteVisualizer: + def __init__(self): + self.frame_id = rospy.get_param("~frame_id", "camera_init") + self.offset_x = float(rospy.get_param("~offset_x", 0.0)) + self.offset_y = float(rospy.get_param("~offset_y", 0.0)) + self.offset_z = float(rospy.get_param("~offset_z", 0.0)) + self.yaw = float(rospy.get_param("~yaw", math.pi / 2.0)) + self.start_x = float(rospy.get_param("~start_x", 0.0)) + self.start_y = float(rospy.get_param("~start_y", -2.30)) + self.start_z = float(rospy.get_param("~start_z", 0.80)) + self.route_z = float(rospy.get_param("~route_z", 0.50)) + self.pillars = rospy.get_param("~pillars") + + self.path_pub = rospy.Publisher( + "/caim/avoidance_route_octomap", Path, + queue_size=1, latch=True) + self.marker_pub = rospy.Publisher( + "/caim/avoidance_route_octomap_marker", Marker, + queue_size=1, latch=True) + rospy.Subscriber( + "/caim/detection_result", Int32, + self.result_callback, queue_size=1) + + rospy.loginfo( + "[TIAOSHI_ROUTE] Waiting for pillar result; frame=%s " + "transform=(%.2f, %.2f, %.2f, yaw %.3f).", + self.frame_id, self.offset_x, self.offset_y, + self.offset_z, self.yaw) + + def transform(self, x_value, y_value, z_value): + cosine = math.cos(self.yaw) + sine = math.sin(self.yaw) + point = Point() + point.x = self.offset_x + cosine * x_value - sine * y_value + point.y = self.offset_y + sine * x_value + cosine * y_value + point.z = self.offset_z + z_value + return point + + def result_callback(self, msg): + code = int(msg.data) + occupied = {code // 10, code % 10} + if code not in (13, 14, 23, 24): + rospy.logwarn("[TIAOSHI_ROUTE] Ignoring invalid result %02d.", code) + return + + empty_pillars = [ + pillar for pillar in self.pillars + if int(pillar["id"]) not in occupied + ] + if len(empty_pillars) != 2: + rospy.logerr( + "[TIAOSHI_ROUTE] Expected two empty positions, got %d.", + len(empty_pillars)) + return + + route = [(self.start_x, self.start_y, self.start_z)] + route.extend([ + (float(pillar["x"]), float(pillar["y"]), self.route_z) + for pillar in empty_pillars + ]) + + stamp = rospy.Time.now() + path = Path() + path.header.stamp = stamp + path.header.frame_id = self.frame_id + + marker = Marker() + marker.header = path.header + marker.ns = "caim_avoidance_route_octomap" + marker.id = 0 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.pose.orientation.w = 1.0 + marker.scale.x = 0.08 + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 0.2 + marker.color.a = 1.0 + + for x_value, y_value, z_value in route: + point = self.transform(x_value, y_value, z_value) + marker.points.append(point) + + pose = PoseStamped() + pose.header = path.header + pose.pose.position = point + pose.pose.orientation.w = 1.0 + path.poses.append(pose) + + self.path_pub.publish(path) + self.marker_pub.publish(marker) + rospy.loginfo( + "[TIAOSHI_ROUTE] Result %02d: published route through empty " + "pillar IDs %d and %d.", + code, int(empty_pillars[0]["id"]), int(empty_pillars[1]["id"])) + + +if __name__ == "__main__": + rospy.init_node("caim_route_visualizer") + RouteVisualizer() + rospy.spin() diff --git a/caim_ws_1.3/src/caim_tiaoshi/start.sh b/caim_ws_1.3/src/caim_tiaoshi/start.sh new file mode 100755 index 0000000..7a41557 --- /dev/null +++ b/caim_ws_1.3/src/caim_tiaoshi/start.sh @@ -0,0 +1,43 @@ +#!/usr/bin/env bash +set -e + +PACKAGE_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +WORKSPACE_DIR="$(cd -- "${PACKAGE_DIR}/../.." && pwd)" +source "${WORKSPACE_DIR}/devel/setup.bash" + +mode="${1:-help}" + +case "${mode}" in + pillar) + exec roslaunch caim_tiaoshi pillar_debug.launch "${@:2}" + ;; + circle) + exec roslaunch caim_tiaoshi circle_debug.launch "${@:2}" + ;; + ab) + exec roslaunch caim_tiaoshi ab_debug.launch "${@:2}" + ;; + all) + camera_index="${CAIM_USB_CAMERA_INDEX:-0}" + camera_name="${CAIM_USB_CAMERA_NAME:-}" + camera_topic="${CAIM_USB_CAMERA_TOPIC:-/usb_camera/image_raw}" + rosrun caim_core usb_camera_node.py \ + _device_name:="${camera_name}" _device_index:="${camera_index}" \ + _image_topic:="${camera_topic}" & + roslaunch caim_tiaoshi pillar_debug.launch & + roslaunch caim_tiaoshi circle_debug.launch \ + start_usb_camera:=false image_topic:="${camera_topic}" & + roslaunch caim_tiaoshi ab_debug.launch \ + start_usb_camera:=false camera_topic:="${camera_topic}" & + trap 'kill $(jobs -p) 2>/dev/null' EXIT INT TERM + wait + ;; + *) + echo "用法：" + echo " ./start.sh pillar [cloud_topic:=...]" + echo " ./start.sh circle [image_topic:=...] [show_gui:=false]" + echo " ./start.sh ab [camera_topic:=...] [show_gui:=false]" + echo " ./start.sh all" + exit 1 + ;; +esac diff --git a/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxF1_curve.png b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxF1_curve.png new file mode 100644 index 0000000..05ae743 Binary files /dev/null and b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxF1_curve.png differ diff --git a/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxPR_curve.png b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxPR_curve.png new file mode 100644 index 0000000..d2f673e Binary files /dev/null and b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxPR_curve.png differ diff --git a/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxP_curve.png b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxP_curve.png new file mode 100644 index 0000000..505234e Binary files /dev/null and b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxP_curve.png differ diff --git a/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxR_curve.png b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxR_curve.png new file mode 100644 index 0000000..ca6a229 Binary files /dev/null and b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/BoxR_curve.png differ diff --git a/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/args.yaml b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/args.yaml new file mode 100644 index 0000000..4a94a59 --- /dev/null +++ b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/args.yaml @@ -0,0 +1,110 @@ +task: detect +mode: train +model: yolo11n.pt +data: /home/yekai/yolo11_dataset_caim/data.yaml +epochs: 250 +time: null +patience: 50 +batch: -1 +imgsz: 640 +save: true +save_period: -1 +cache: disk +device: '0' +workers: 4 +project: /home/yekai/yolo11_runs +name: yolo11n_custom-2 +exist_ok: false +pretrained: true +optimizer: auto +verbose: true +seed: 0 +deterministic: true +single_cls: false +rect: false +cos_lr: false +close_mosaic: 10 +resume: false +amp: true +fraction: 1.0 +profile: false +freeze: null +multi_scale: 0.0 +compile: false +overlap_mask: true +mask_ratio: 4 +dropout: 0.0 +val: true +split: val +save_json: false +conf: null +iou: 0.7 +max_det: 300 +half: false +dnn: false +plots: true +end2end: null +source: null +vid_stride: 1 +stream_buffer: false +visualize: false +augment: false +agnostic_nms: false +classes: null +retina_masks: false +embed: null +show: false +save_frames: false 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b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom-2/weights/last.pt differ diff --git a/caim_ws_1.3/src/yolo11_runs/yolo11n_custom/args.yaml b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom/args.yaml new file mode 100644 index 0000000..125c494 --- /dev/null +++ b/caim_ws_1.3/src/yolo11_runs/yolo11n_custom/args.yaml @@ -0,0 +1,110 @@ +task: detect +mode: train +model: yolo11n.pt +data: /home/yekai/yolo11_dataset/data.yaml +epochs: 250 +time: null +patience: 50 +batch: -1 +imgsz: 640 +save: true +save_period: -1 +cache: disk +device: '0' +workers: 4 +project: /home/yekai/yolo11_runs +name: yolo11n_custom +exist_ok: false +pretrained: true +optimizer: auto +verbose: true +seed: 0 +deterministic: true +single_cls: false +rect: false +cos_lr: false +close_mosaic: 10 +resume: false +amp: true +fraction: 1.0 +profile: false +freeze: null +multi_scale: 0.0 +compile: false +overlap_mask: true +mask_ratio: 4 +dropout: 0.0 +val: true +split: val +save_json: false +conf: null +iou: 0.7 +max_det: 300 +half: false +dnn: false +plots: true +end2end: null +source: null +vid_stride: 1 +stream_buffer: false +visualize: false +augment: false +agnostic_nms: false +classes: null +retina_masks: false +embed: null +show: false +save_frames: false +save_txt: false +save_conf: false +save_crop: false +show_labels: true +show_conf: true +show_boxes: true +line_width: null +format: torchscript +keras: false +optimize: false +int8: false +dynamic: false +simplify: true +opset: null +workspace: null +nms: false +lr0: 0.01 +lrf: 0.01 +momentum: 0.937 +weight_decay: 0.0005 +warmup_epochs: 3.0 +warmup_momentum: 0.8 +warmup_bias_lr: 0.1 +box: 7.5 +cls: 0.5 +cls_pw: 0.0 +dfl: 1.5 +pose: 12.0 +kobj: 1.0 +rle: 1.0 +angle: 1.0 +nbs: 64 +hsv_h: 0.015 +hsv_s: 0.7 +hsv_v: 0.4 +degrees: 0.0 +translate: 0.1 +scale: 0.5 +shear: 0.0 +perspective: 0.0 +flipud: 0.0 +fliplr: 0.5 +bgr: 0.0 +mosaic: 1.0 +mixup: 0.0 +cutmix: 0.0 +copy_paste: 0.0 +copy_paste_mode: flip +auto_augment: randaugment +erasing: 0.4 +cfg: null +tracker: botsort.yaml +save_dir: /home/yekai/yolo11_runs/yolo11n_custom diff --git a/caim_ws_1.3/start.sh b/caim_ws_1.3/start.sh new file mode 100755 index 0000000..ce24f02 --- /dev/null +++ b/caim_ws_1.3/start.sh @@ -0,0 +1,37 @@ +#!/usr/bin/env bash +set -e + +WORKSPACE_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +source "${WORKSPACE_DIR}/devel/setup.bash" + +USB_CAMERA_INDEX="${CAIM_USB_CAMERA_INDEX:-0}" +USB_CAMERA_NAME="${CAIM_USB_CAMERA_NAME:-}" +USB_CAMERA_TOPIC="${CAIM_USB_CAMERA_TOPIC:-/usb_camera/image_raw}" + +# 一只 USB 摄像头只打开一次，下视圆环和 A/B 识别共享该图像话题。 +rosrun caim_core usb_camera_node.py \ + _device_name:="${USB_CAMERA_NAME}" \ + _device_index:="${USB_CAMERA_INDEX}" \ + _image_topic:="${USB_CAMERA_TOPIC}" & + +# OctoMap 使用 FAST-LIO 的机体系点云和 camera_init -> body TF。 +rosrun octomap_server octomap_server_node \ + _frame_id:=camera_init \ + _resolution:=0.05 \ + _sensor_model/max_range:=8.0 \ + _pointcloud_min_z:=-0.20 \ + _pointcloud_max_z:=3.00 \ + cloud_in:=/cloud_registered_body & + +roslaunch caim_core box_perception.launch & +roslaunch caim_core downward_visual.launch \ + start_usb_camera:=false \ + image_topic:="${USB_CAMERA_TOPIC}" & +roslaunch caim_core routes.launch show_rviz:=true & +roslaunch caim_core position_node.launch & +roslaunch caim_core target_finding.launch \ + start_usb_camera:=false \ + camera_topic:="${USB_CAMERA_TOPIC}" & +echo "OctoMap、感知、避障、主状态机启动完成" +trap 'kill $(jobs -p) 2>/dev/null' EXIT +wait